WorldWideScience

Sample records for vehicle dynamics trials

  1. Vehicle dynamics theory and application

    CERN Document Server

    Jazar, Reza N

    2017-01-01

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

  2. Constraint Embedding for Vehicle Suspension Dynamics

    Directory of Open Access Journals (Sweden)

    Jain Abhinandan

    2016-06-01

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

  3. Vehicle Dynamics and Control

    CERN Document Server

    Rajamani, Rajesh

    2012-01-01

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

  4. Dynamics of vehicle-road coupled system

    CERN Document Server

    Yang, Shaopu; Li, Shaohua

    2015-01-01

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

  5. Constraint Embedding for Vehicle Suspension Dynamics

    OpenAIRE

    Jain Abhinandan; Kuo Calvin; Jayakumar Paramsothy; Cameron Jonathan

    2016-01-01

    The goal of this research is to achieve close to real-time dynamics performance for allowing auto-pilot in-the-loop testing of unmanned ground vehicles (UGV) for urban as well as off-road scenarios. The overall vehicle dynamics performance is governed by the multibody dynamics model for the vehicle, the wheel/terrain interaction dynamics and the onboard control system. The topic of this paper is the development of computationally efficient and accurate dynamics model for ground vehicles with ...

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

    Science.gov (United States)

    Hsu, Ling-Yuan; Chen, Tsung-Lin

    2012-01-01

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

  7. 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.

  8. Vehicle systems: coupled and interactive dynamics analysis

    Science.gov (United States)

    Vantsevich, Vladimir V.

    2014-11-01

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

  9. Classification of Dynamic Vehicle Routing Systems

    DEFF Research Database (Denmark)

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

    2007-01-01

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

  10. Dynamics and Control of a Maglev Vehicle

    Directory of Open Access Journals (Sweden)

    Won ko

    2006-06-01

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

  11. 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...

  12. 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.

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

    Science.gov (United States)

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

    2017-11-01

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

  14. 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.

  15. Extensions to the Dynamic Aerospace Vehicle Exchange Markup Language

    Science.gov (United States)

    Brian, Geoffrey J.; Jackson, E. Bruce

    2011-01-01

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

  16. A review of dynamic characteristics of magnetically levitated vehicle systems

    Energy Technology Data Exchange (ETDEWEB)

    Cai, Y.; Chen, S.S.

    1995-11-01

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

  17. 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

  18. 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...

  19. 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

  20. 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.)

  1. 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.

  2. 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.

  3. Botulinum toxin to improve results in cleft lip repair: a double-blinded, randomized, vehicle-controlled clinical trial.

    Directory of Open Access Journals (Sweden)

    Chun-Shin Chang

    Full Text Available Most patients with facial scarring would value even a slight improvement in scar quality. Botulinum toxin A is widely used to alleviate facial dynamic rhytides but is also believed to improve scar quality by reducing wound tension during healing. The main objective was to assess the effect of Botulinum toxin on scars resultant from standardized upper lip wounds.In this double-blinded, randomized, vehicle-controlled, prospective clinical trial, 60 consecutive consenting adults undergoing cleft lip scar revision (CLSR surgery between July 2010 and March 2012 were randomized to receive botulinum toxin A (n = 30 or vehicle (normal saline; n = 30 injections into the subjacent orbicularis oris muscle immediately after wound closure. Scars were independently assessed at 6-months follow-up in blinded fashion using: Vancouver Scar Scale (VSS, Visual Analogue Scale (VAS and photographic plus ultrasound measurements of scar widths.58 patients completed the trial. All scar assessment modalities revealed statistically significantly better scars in the experimental than the vehicle-control group.Quality of surgical upper lip scars, which are oriented perpendicular to the direction of pull of the underlying orbicularis oris muscle, is significantly improved by its temporary paralysis during wound healing.ClinicalTrials.gov NCT01429402.

  4. 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.

  5. 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.

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

    Directory of Open Access Journals (Sweden)

    Bangji Zhang

    2016-01-01

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

  7. 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

  8. 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.

  9. 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...

  10. 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.

  11. 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.

  12. 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.

  13. 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.

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

    Science.gov (United States)

    2011-01-01

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

  15. 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.

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

    DEFF Research Database (Denmark)

    True, Hans

    1999-01-01

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

  17. 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.

  18. 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.

  19. Can we identify non-stationary dynamics of trial-to-trial variability?

    Directory of Open Access Journals (Sweden)

    Emili Balaguer-Ballester

    Full Text Available Identifying sources of the apparent variability in non-stationary scenarios is a fundamental problem in many biological data analysis settings. For instance, neurophysiological responses to the same task often vary from each repetition of the same experiment (trial to the next. The origin and functional role of this observed variability is one of the fundamental questions in neuroscience. The nature of such trial-to-trial dynamics however remains largely elusive to current data analysis approaches. A range of strategies have been proposed in modalities such as electro-encephalography but gaining a fundamental insight into latent sources of trial-to-trial variability in neural recordings is still a major challenge. In this paper, we present a proof-of-concept study to the analysis of trial-to-trial variability dynamics founded on non-autonomous dynamical systems. At this initial stage, we evaluate the capacity of a simple statistic based on the behaviour of trajectories in classification settings, the trajectory coherence, in order to identify trial-to-trial dynamics. First, we derive the conditions leading to observable changes in datasets generated by a compact dynamical system (the Duffing equation. This canonical system plays the role of a ubiquitous model of non-stationary supervised classification problems. Second, we estimate the coherence of class-trajectories in empirically reconstructed space of system states. We show how this analysis can discern variations attributable to non-autonomous deterministic processes from stochastic fluctuations. The analyses are benchmarked using simulated and two different real datasets which have been shown to exhibit attractor dynamics. As an illustrative example, we focused on the analysis of the rat's frontal cortex ensemble dynamics during a decision-making task. Results suggest that, in line with recent hypotheses, rather than internal noise, it is the deterministic trend which most likely underlies

  20. A trial of retrofitted advisory collision avoidance technology in government fleet vehicles.

    Science.gov (United States)

    Thompson, James P; Mackenzie, Jamie R R; Dutschke, Jeffrey K; Baldock, Matthew R J; Raftery, Simon J; Wall, John

    2018-06-01

    In-vehicle collision avoidance technology (CAT) has the potential to prevent crash involvement. In 2015, Transport for New South Wales undertook a trial of a Mobileye 560 CAT system that was installed in 34 government fleet vehicles for a period of seven months. The system provided headway monitoring, lane departure, forward collision and pedestrian collision warnings, using audio and visual alerts. The purpose of the trial was to determine whether the technology could change the driving behaviour of fleet vehicle drivers and improve their safety. The evaluation consisted of three components: (1) analysis of objective data to examine effects of the technology on driving behaviour, (2) analysis of video footage taken from a sample of the vehicles to examine driving circumstances that trigger headway monitoring and forward collision warnings, and (3) a survey completed by 122 of the 199 individuals who drove the trial vehicles to examine experiences with, and attitudes to, the technology. Analysis of the objective data found that the system resulted in changes in behaviour with increased headway and improved lane keeping, but that these improvements dissipated once the warning alerts were switched off. Therefore, the system is capable of altering behaviour but only when it is actively providing alerts. In-vehicle video footage revealed that over a quarter of forward collision warnings were false alarms, in which a warning event was triggered despite there being no vehicle travelling ahead. The surveyed drivers recognised that the system could improve safety but most did not wish to use it themselves as they found it to be distracting and felt that it would not prevent them from having a crash. The results demonstrate that collision avoidance technology can improve driving behaviour but drivers may need to be educated about the potential benefits for their driving in order to accept the technology. Copyright © 2018 Elsevier Ltd. All rights reserved.

  1. 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

  2. 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.

  3. 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.

  4. 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.

  5. 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....

  6. 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...

  7. 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.

  8. 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...

  9. 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.

  10. 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

  11. 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.

  12. 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.

  13. 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.

  14. 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.

  15. 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...

  16. 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.

  17. 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...

  18. 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.

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

    Science.gov (United States)

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

    2017-11-01

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

  20. Volume Dynamics Propulsion System Modeling for Supersonics Vehicle Research

    Science.gov (United States)

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

    2010-01-01

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

  1. 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.

  2. 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.

  3. 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...

  4. 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.

  5. 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.

  6. 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.

  7. 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

  8. 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.

  9. 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

  10. 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...

  11. 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...

  12. 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.)

  13. 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.

  14. 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

  15. 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.

  16. Virtual Drive Testing of Adaptive Antenna Systems in Dynamic Propagation Scenarios for Vehicle Communications

    DEFF Research Database (Denmark)

    Fan, Wei; Hentilä, Lassi; Zhang, Fengchun

    2018-01-01

    Virtual drive testing (VDT) has gained great interest from both industry and academia, owing to its promise to replay field trials in a controllable laboratory condition. VDT is especially appealing for vehicle communication scenarios, where actual field trials can be difficult to carry out...

  17. 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.

  18. 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.

  19. 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.)

  20. 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.

  1. 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.

  2. The Sentry Autonomous Underwater Vehicle: Field Trial Results and Future Capabilities

    Science.gov (United States)

    Yoerger, D. R.; Bradley, A. M.; Martin, S. C.; Whitcomb, L. L.

    2006-12-01

    The Sentry autonomous underwater vehicle combines an efficient long range survey capability with the ability to maneuver at low speeds. These attributes will permit Sentry to perform a variety of conventional and unconventional surveys including long range sonar surveys, hydrothermal plume surveys and near-bottom photo surveys. Sentry's streamlined body and fore and aft tilting planes, each possessing an independently controlled thruster, enable efficient operation in both near-bottom and cruising operations. Sentry is capable of being configured in two modes: hover mode, which commands Sentry's control surfaces to be aligned vertically, and forward flight mode, which allows Sentry's control surfaces to actuate between plus or minus 45 degrees. Sentry is equipped for full 6-Degrees of freedom position measurement. Vehicle heading, roll, and pitch are instrumented with a TCM2 PNI heading and attitude sensor. A Systron Donner yaw rate sensor instrumented heading rate. Depth is instrumented by a Paroscientific depth sensor. A 300kHz RD Instruments Doppler Sonar provides altitude and XYZ velocity measurements. In April 2006, we conducted our first deep water field trials of Sentry in Bermuda. These trials enabled us to examine a variety of issues, including the control software, vehicle safety systems, launch and recovery procedures, operation at depth, heading and depth controllers over a range of speeds, and power consumption. Sentry employ's a control system based upon the Jason 2 control system for low-level control, which has proven effective and reliable over several hundred deep-water dives. The Jason 2 control system, developed jointly at Johns Hopkins University and Woods Hole Oceanographic Institution, was augmented to manage Sentry-specific devices (sensors, actuators, and power storage) and to employ a high-level mission controller that supported autonomous mission scripting and error detection and response. This control suite will also support the Nereus

  3. 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)

  4. 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.

  5. 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.

  6. 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.

  7. 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.

  8. 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.

  9. 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

  10. 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

  11. 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.

  12. 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...

  13. 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.)

  14. 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...

  15. 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

  16. 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.

  17. 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.

  18. Influences of braking system faults on the vehicle dynamics

    Energy Technology Data Exchange (ETDEWEB)

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

    2001-07-01

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

  19. 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…

  20. 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.

  1. 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

  2. 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.

  3. 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.

  4. 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...

  5. 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...

  6. [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.

  7. Propulsion System Dynamic Modeling for the NASA Supersonic Concept Vehicle: AeroPropulsoServoElasticity

    Science.gov (United States)

    Kopasakis, George; Connolly, Joseph; Seidel, Jonathan

    2014-01-01

    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.propulsion system dynamics, the structural dynamics, and aerodynamics.

  8. 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.

  9. 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.

  10. 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...

  11. 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

  12. 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.

  13. 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.

  14. 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.

  15. 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.

  16. 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.

  17. Prospective, Randomized, Double-Blind, Parallel-Group, Comparative Effectiveness Clinical Trial Comparing a Powder Vehicle Compound of Vitamin D With an Oil Vehicle Compound in Adults With Cystic Fibrosis.

    Science.gov (United States)

    Hermes, Wendy A; Alvarez, Jessica A; Lee, Moon J; Chesdachai, Supavit; Lodin, Daud; Horst, Ron; Tangpricha, Vin

    2017-08-01

    There is little consensus on the most efficacious vehicle substance for vitamin D supplements. Fat malabsorption may impede the ability of patients with cystic fibrosis (CF) to absorb vitamin D in an oil vehicle. We hypothesized that vitamin D contained in a powder vehicle would be absorbed more efficiently than vitamin D contained in an oil vehicle in patients with CF. In this double-blind, randomized controlled trial, hospitalized adults with CF were given a one-time bolus dose of 100,000 IU of cholecalciferol (D 3 ) in a powder-based or oil-based vehicle. Serum D 3 , 25-hydroxyvitamin D, and parathyroid hormone concentrations were analyzed at 0, 12, 24, and 48 hours posttreatment. The area under the curve for serum D 3 and the 12-hour time point were also assessed as indicators of D 3 absorption. This trial was completed by 15 patients with CF. The median (interquartile range) age, body mass index, and forced expiratory volume in 1 second were 23.7 (19.9-33.2) years, 19.9 (18.6-22.6) kg/m 2 , and 63% (37%-80%), respectively. The increase in serum D 3 and the area under the curve was greater in the powder group ( P = .002 and P = .036, respectively). Serum D 3 was higher at 12 hours in the powder group compared with the oil group ( P = .002), although levels were similar between groups by 48 hours. In adults with CF, cholecalciferol is more efficiently absorbed in a powder compared with an oil vehicle. Physicians should consider prescribing vitamin D in a powder vehicle in patients with CF to improve the absorption of vitamin D from supplements.

  18. 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.

  19. 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.

  20. 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

  1. 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

  2. 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

  3. 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.

  4. 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

  5. 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.

  6. 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

  7. 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.

  8. 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.

  9. 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.

  10. 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.

  11. 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.

  12. Hardware-in-the-loop vehicle system including dynamic fuel cell model

    Energy Technology Data Exchange (ETDEWEB)

    Lemes, Z.; Lenhart, T.; Braun, M.; Maencher, H. [MAGNUM Automatisierungstechnik GmbH, Darmstadt (Germany)

    2005-07-01

    In order to reduce costs and accelerate the development of fuel cells and systems the usage of hardware-in-the-loop (HIL) testing and dynamic modelling opens new possibilities. The dynamic model of a proton exchange membrane fuel cell (PEMFC) together with a vehicle model is used to carry out a comprehensive system investigation, which allows designing and optimising the behaviour of the components and the entire fuel cell system. The set-up of a HIL system enables real time interaction between the selected hardware and the model. (orig.)

  13. 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.

  14. Cooperative vehicle control, feature tracking and ocean sampling

    Science.gov (United States)

    Fiorelli, Edward A.

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

  15. 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.)

  16. 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.

  17. Research of Charging(Discharging Orderly and Optimizing Load Curve for Electric Vehicles Based on Dynamic Electric Price and V2G

    Directory of Open Access Journals (Sweden)

    Yang Shuai

    2016-01-01

    Full Text Available Firstly, using the Monte Carlo method and simulation analysis, this paper builds models for the behaviour of electric vehicles, the conventional charging model and the fast charging model. Secondly, this paper studies the impact that the number of electric vehicles which get access to power grid has on the daily load curve. Then, the paper put forwards a dynamic pricing mechanism of electricity, and studies how this dynamic pricing mechanism guides the electric vehicles to charge orderly. Last but not the least, the paper presents a V2G mechanism. Under this mechanism, electric vehicles can charge orderly and take part in the peak shaving. Research finds that massive electric vehicles’ access to the power grid will increase the peak-valley difference of daily load curve. Dynamic pricing mechanism and V2G mechanism can effectively lead the electric vehicles to take part in peak-shaving, and optimize the daily load curve.

  18. 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

  19. Contamination and decontamination of vehicles driven in radioactive areas

    International Nuclear Information System (INIS)

    Ulvsand, T.; Nygren, U.

    1999-03-01

    There is reason to ask whether it is beneficial to decontaminate vehicles, in view of the great effort applied. If the level of contamination is low before the decontamination process, then the cost is not motivated, even if the decontamination is shown to be effective in relative terms. The report describes two trials at the National NBC Defence School in Umeaa and one trial at the French test site in Bourges. The aim is to investigate how vehicles are contaminated and at which ground deposition levels troublesome levels of contamination will arise. In the trials, a non-radioactive agent substituting real radioactivity was used. The trials in Sweden so far have used the oversnow vehicle BV 206, during both winter and summer conditions. The vehicles were driven a specific distance along a road on which a known amount of the test substance had been dispersed. Samples were taken on pre-determined areas on one side of the vehicles to measure the amount of test substance. Later, the vehicles continued along a 'clean' road where additional samples were taken, but on the other side of the vehicles. The largest amount of test substance was collected on the tracks and on the back of the vehicle. The tracks and mud-flaps were effectively decontaminated when the vehicles were driven along a clean road, while most of the contamination remained on the backside. The purpose of the trials in France was to compare the results from our non-radioactive and their radioactive method, based on the radioactive La-140. Due to ground conditions, the level of contamination on the vehicles was much less than in the trials in Umeaa, but the effect decontamination could be measured after all

  20. Compaction-Based Deformable Terrain Model as an Interface for Real-Time Vehicle Dynamics Simulations

    Science.gov (United States)

    2013-04-16

    N.Y. [20] Wulfsohn, D., and Upadhyaya, S. K., 1992, "Prediction of traction and soil compaction using three-dimensional soil- tyre contact profile," Journal of Terramechanics, 29(6), pp. 541-564. ...the relative speedup of utilizing GPUs for computational acceleration. INTRODUCTION In order to enable off- road vehicle dynamics analysis...ANSI Std Z39-18 Page 2 of 8 Figure 2. Tire geometry used to determine collision points with the terrain In the context of off- road vehicle

  1. 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

  2. Multi-Spectral Imaging from an Unmanned Aerial Vehicle Enables the Assessment of Seasonal Leaf Area Dynamics of Sorghum Breeding Lines

    Directory of Open Access Journals (Sweden)

    Andries B. Potgieter

    2017-09-01

    Full Text Available Genetic improvement in sorghum breeding programs requires the assessment of adaptation traits in small-plot breeding trials across multiple environments. Many of these phenotypic assessments are made by manual measurement or visual scoring, both of which are time consuming and expensive. This limits trial size and the potential for genetic gain. In addition, these methods are typically restricted to point estimates of particular traits, such as leaf senescence or flowering and do not capture the dynamic nature of crop growth. In water-limited environments in particular, information on leaf area development over time would provide valuable insight into water use and adaptation to water scarcity during specific phenological stages of crop development. Current methods to estimate plant leaf area index (LAI involve destructive sampling and are not practical in breeding. Unmanned aerial vehicles (UAV and proximal-sensing technologies open new opportunities to assess these traits multiple times in large small-plot trials. We analyzed vegetation-specific crop indices obtained from a narrowband multi-spectral camera on board a UAV platform flown over a small pilot trial with 30 plots (10 genotypes randomized within 3 blocks. Due to variable emergence we were able to assess the utility of these vegetation indices to estimate canopy cover and LAI over a large range of plant densities. We found good correlations between the Normalized Difference Vegetation Index (NDVI and the Enhanced Vegetation Index (EVI with plant number per plot, canopy cover and LAI both during the vegetative growth phase (pre-anthesis and at maximum canopy cover shortly after anthesis. We also analyzed the utility of time-sequence data to assess the senescence pattern of sorghum genotypes known as fast (senescent or slow senescing (stay-green types. The Normalized Difference Red Edge (NDRE index which estimates leaf chlorophyll content was most useful in characterizing the leaf area

  3. 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.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1999-12-01

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

  5. Motion Planning in Dynamic Environments with Application to Self-Driving Vehicles

    OpenAIRE

    Schwesinger, Ulrich

    2017-01-01

    This thesis is concerned with the development of trajectory planning approaches targeting autonomous driving applications in dynamic environments shared with other traffic participants. The goal is to enable mobile robots to operate in challenging environments, characterized by narrow spaces and close proximity of other agents. With their broad range of private and commercial applications reaching from logistics to valet parking to name a few, driverless vehicles have gained increasing at...

  6. 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.

  7. Contamination and decontamination of vehicles when driven in radioactive areas

    International Nuclear Information System (INIS)

    Ulvsand, T.; Nygren, U.

    1999-10-01

    There is reason to ask whether it is beneficial to decontaminate vehicles, in view of the great effort applied. If the level of contamination is low before the decontamination process, then the cost is not motivated, even if the decontamination is shown to be effective in relative terms. The report describes two trials at the National NBC Defence School in Umeaa and one trial at the French test site in Bourges. The aim is to investigate how vehicles are contaminated and at which ground deposition levels troublesome levels of contamination will arise. In the trials, a non-radioactive agent substituting real radioactivity was used. The trials in Sweden so far have used the oversnow vehicle BV 206, during both winter and summer conditions. The vehicles were driven a specific distance along a road on which a known amount of the test substance had been dispersed. Samples were taken on pre-determined areas on one side of the vehicles to measure the amount of test substance. Later, the vehicles continued along a 'clean' road where additional samples were taken, but on the other side of the vehicles. The largest amount of test substance was collected on the tracks and on the back of the vehicle. The tracks and mud-flaps were effectively decontaminated when the vehicles were driven along a clean road, while most of the contamination remained on the backside. The purpose of the trials in France was to compare the results from our non-radioactive and their radioactive method, based on the radioactive La-140. Due to ground conditions, the level of contamination on the vehicles was much less than in the trials in Umeaa, but the effect decontamination could be measured after all

  8. Development of Constraint Force Equation Methodology for Application to Multi-Body Dynamics Including Launch Vehicle Stage Seperation

    Science.gov (United States)

    Pamadi, Bandu N.; Toniolo, Matthew D.; Tartabini, Paul V.; Roithmayr, Carlos M.; Albertson, Cindy W.; Karlgaard, Christopher D.

    2016-01-01

    The objective of this report is to develop and implement a physics based method for analysis and simulation of multi-body dynamics including launch vehicle stage separation. The constraint force equation (CFE) methodology discussed in this report provides such a framework for modeling constraint forces and moments acting at joints when the vehicles are still connected. Several stand-alone test cases involving various types of joints were developed to validate the CFE methodology. The results were compared with ADAMS(Registered Trademark) and Autolev, two different industry standard benchmark codes for multi-body dynamic analysis and simulations. However, these two codes are not designed for aerospace flight trajectory simulations. After this validation exercise, the CFE algorithm was implemented in Program to Optimize Simulated Trajectories II (POST2) to provide a capability to simulate end-to-end trajectories of launch vehicles including stage separation. The POST2/CFE methodology was applied to the STS-1 Space Shuttle solid rocket booster (SRB) separation and Hyper-X Research Vehicle (HXRV) separation from the Pegasus booster as a further test and validation for its application to launch vehicle stage separation problems. Finally, to demonstrate end-to-end simulation capability, POST2/CFE was applied to the ascent, orbit insertion, and booster return of a reusable two-stage-to-orbit (TSTO) vehicle concept. With these validation exercises, POST2/CFE software can be used for performing conceptual level end-to-end simulations, including launch vehicle stage separation, for problems similar to those discussed in this report.

  9. 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.

  10. Thirteenth Workshop for Computational Fluid Dynamic Applications in Rocket Propulsion and Launch Vehicle Technology. Volume 1

    Science.gov (United States)

    Williams, R. W. (Compiler)

    1996-01-01

    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.

  11. Modeling and Closed Loop Flight Testing of a Fixed Wing Micro Air Vehicle

    Directory of Open Access Journals (Sweden)

    Harikumar Kandath

    2018-03-01

    Full Text Available This paper presents the nonlinear six degrees of freedom dynamic modeling of a fixed wing micro air vehicle. The static derivatives of the micro air vehicle are obtained through the wind tunnel testing. The propeller effects on the lift, drag, pitching moment and side force are quantified through wind tunnel testing. The dynamic derivatives are obtained through empirical relations available in the literature. The trim conditions are computed for a straight and constant altitude flight condition. The linearized longitudinal and lateral state space models are obtained about trim conditions. The variations in short period mode, phugoid mode, Dutch roll mode, roll subsidence mode and spiral mode with respect to different trim operating conditions is presented. A stabilizing static output feedback controller is designed using the obtained model. Successful closed loop flight trials are conducted with the static output feedback controller.

  12. 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.

  13. 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.

  14. Effect of Space Vehicle Structure Vibration on Control Moment Gyroscope Dynamics

    Science.gov (United States)

    Dobrinskaya, Tatiana

    2008-01-01

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

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

    OpenAIRE

    Hulme, Kevin; Kasprzak, Edward; English, Ken; Moore-Russo, Deborah; Lewis, Kemper

    2009-01-01

    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 c...

  16. Space robot simulator vehicle

    Science.gov (United States)

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

    1985-01-01

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

  17. Spectral analysis methods for vehicle interior vibro-acoustics identification

    Science.gov (United States)

    Hosseini Fouladi, Mohammad; Nor, Mohd. Jailani Mohd.; Ariffin, Ahmad Kamal

    2009-02-01

    Noise has various effects on comfort, performance and health of human. Sound are analysed by human brain based on the frequencies and amplitudes. In a dynamic system, transmission of sound and vibrations depend on frequency and direction of the input motion and characteristics of the output. It is imperative that automotive manufacturers invest a lot of effort and money to improve and enhance the vibro-acoustics performance of their products. The enhancement effort may be very difficult and time-consuming if one relies only on 'trial and error' method without prior knowledge about the sources itself. Complex noise inside a vehicle cabin originated from various sources and travel through many pathways. First stage of sound quality refinement is to find the source. It is vital for automotive engineers to identify the dominant noise sources such as engine noise, exhaust noise and noise due to vibration transmission inside of vehicle. The purpose of this paper is to find the vibro-acoustical sources of noise in a passenger vehicle compartment. The implementation of spectral analysis method is much faster than the 'trial and error' methods in which, parts should be separated to measure the transfer functions. Also by using spectral analysis method, signals can be recorded in real operational conditions which conduce to more consistent results. A multi-channel analyser is utilised to measure and record the vibro-acoustical signals. Computational algorithms are also employed to identify contribution of various sources towards the measured interior signal. These achievements can be utilised to detect, control and optimise interior noise performance of road transport vehicles.

  18. Incorporating a Wheeled Vehicle Model in a New Monocular Visual Odometry Algorithm for Dynamic Outdoor Environments

    Science.gov (United States)

    Jiang, Yanhua; Xiong, Guangming; Chen, Huiyan; Lee, Dah-Jye

    2014-01-01

    This paper presents a monocular visual odometry algorithm that incorporates a wheeled vehicle model for ground vehicles. The main innovation of this algorithm is to use the single-track bicycle model to interpret the relationship between the yaw rate and side slip angle, which are the two most important parameters that describe the motion of a wheeled vehicle. Additionally, the pitch angle is also considered since the planar-motion hypothesis often fails due to the dynamic characteristics of wheel suspensions and tires in real-world environments. Linearization is used to calculate a closed-form solution of the motion parameters that works as a hypothesis generator in a RAndom SAmple Consensus (RANSAC) scheme to reduce the complexity in solving equations involving trigonometric. All inliers found are used to refine the winner solution through minimizing the reprojection error. Finally, the algorithm is applied to real-time on-board visual localization applications. Its performance is evaluated by comparing against the state-of-the-art monocular visual odometry methods using both synthetic data and publicly available datasets over several kilometers in dynamic outdoor environments. PMID:25256109

  19. Incorporating a Wheeled Vehicle Model in a New Monocular Visual Odometry Algorithm for Dynamic Outdoor Environments

    Directory of Open Access Journals (Sweden)

    Yanhua Jiang

    2014-09-01

    Full Text Available This paper presents a monocular visual odometry algorithm that incorporates a wheeled vehicle model for ground vehicles. The main innovation of this algorithm is to use the single-track bicycle model to interpret the relationship between the yaw rate and side slip angle, which are the two most important parameters that describe the motion of a wheeled vehicle. Additionally, the pitch angle is also considered since the planar-motion hypothesis often fails due to the dynamic characteristics of wheel suspensions and tires in real-world environments. Linearization is used to calculate a closed-form solution of the motion parameters that works as a hypothesis generator in a RAndom SAmple Consensus (RANSAC scheme to reduce the complexity in solving equations involving trigonometric. All inliers found are used to refine the winner solution through minimizing the reprojection error. Finally, the algorithm is applied to real-time on-board visual localization applications. Its performance is evaluated by comparing against the state-of-the-art monocular visual odometry methods using both synthetic data and publicly available datasets over several kilometers in dynamic outdoor environments.

  20. 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.

  1. 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.

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

    Directory of Open Access Journals (Sweden)

    Ahcene Farah

    2002-06-01

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

  3. 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...

  4. Dynamic Forces between the Rails and the Wheels of Railway Vehicle

    Directory of Open Access Journals (Sweden)

    Zdravko Peran

    2016-02-01

    Full Text Available The process of acquisition of the measured dynamic values of forces between the rails and the wheels on the real measurement train and the train tracks. The conversion of the measured values into the matrices and vectors enables numerous exact qualitative and quantitative studies of the dynamic phenomena behaviour. The paper shows the possibilities of using MATLAB computer tool. All the commands in the software are given and explained. Calculating of the empirical, normal and cumulative distribution on an example of the lateral force is given in detail. The new software is exactly verified mathematically and qualified for any further use. The developed software is the tool for the development of other two phases: software for the exact automatic evaluation of the maximum values of the dynamic values and software for the automatic approval of vehicles and railway due to the driving safety, loading tracks and driving comfort compared to the limited values regarding UI C CODE 518.

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

    Directory of Open Access Journals (Sweden)

    D. M. Dramićanin

    2012-11-01

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

  6. 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.

  7. 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.

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

    Directory of Open Access Journals (Sweden)

    Xinlei Liu

    2012-08-01

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

  9. Dynamic simulation of road vehicle door window regulator mechanism of cross arm type

    Science.gov (United States)

    Miklos, I. Zs; Miklos, C.; Alic, C.

    2017-01-01

    The paper presents issues related to the dynamic simulation of a motor-drive operating mechanism of cross arm type, for the manipulation of road vehicle door windows, using Autodesk Inventor Professional software. The dynamic simulation of the mechanism involves a 3D modelling, kinematic coupling, drive motion parameters and external loads, as well as the graphically view of the kinematic and kinetostatic results for the various elements and kinematic couplings of the mechanism, under real operating conditions. Also, based on the results, the analysis of the mechanism components has been carried out using the finite element method.

  10. Probabilistic Sensitivity Analysis for Launch Vehicles with Varying Payloads and Adapters for Structural Dynamics and Loads

    Science.gov (United States)

    McGhee, David S.; Peck, Jeff A.; McDonald, Emmett J.

    2012-01-01

    This paper examines Probabilistic Sensitivity Analysis (PSA) methods and tools in an effort to understand their utility in vehicle loads and dynamic analysis. Specifically, this study addresses how these methods may be used to establish limits on payload mass and cg location and requirements on adaptor stiffnesses while maintaining vehicle loads and frequencies within established bounds. To this end, PSA methods and tools are applied to a realistic, but manageable, integrated launch vehicle analysis where payload and payload adaptor parameters are modeled as random variables. This analysis is used to study both Regional Response PSA (RRPSA) and Global Response PSA (GRPSA) methods, with a primary focus on sampling based techniques. For contrast, some MPP based approaches are also examined.

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

    OpenAIRE

    Ho, Lok Man

    2013-01-01

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

  12. 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

  13. 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.

  14. 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.

  15. 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.

  16. Dynamic Vehicle Routing Problems with Enhanced Ant Colony Optimization

    Directory of Open Access Journals (Sweden)

    Haitao Xu

    2018-01-01

    Full Text Available As we all know, there are a great number of optimization problems in the world. One of the relatively complicated and high-level problems is the vehicle routing problem (VRP. Dynamic vehicle routing problem (DVRP is a major variant of VRP, and it is closer to real logistic scene. In DVRP, the customers’ demands appear with time, and the unserved customers’ points must be updated and rearranged while carrying out the programming paths. Owing to the complexity and significance of the problem, DVRP applications have grabbed the attention of researchers in the past two decades. In this paper, we have two main contributions to solving DVRP. Firstly, DVRP is solved with enhanced Ant Colony Optimization (E-ACO, which is the traditional Ant Colony Optimization (ACO fusing improved K-means and crossover operation. K-means can divide the region with the most reasonable distance, while ACO using crossover is applied to extend search space and avoid falling into local optimum prematurely. Secondly, several new evaluation benchmarks are proposed, which can objectively and comprehensively estimate the proposed method. In the experiment, the results for different scale problems are compared to those of previously published papers. Experimental results show that the algorithm is feasible and efficient.

  17. Frequency Domain Computer Programs for Prediction and Analysis of Rail Vehicle Dynamics : Volume 1. Technical Report

    Science.gov (United States)

    1975-12-01

    Frequency domain computer programs developed or acquired by TSC for the analysis of rail vehicle dynamics are described in two volumes. Volume I defines the general analytical capabilities required for computer programs applicable to single rail vehi...

  18. Driver-vehicle interaction in steering and handling tasks

    NARCIS (Netherlands)

    Zuurbier, J.; Göbel, M.P.

    1999-01-01

    In recent years, there is an increasing interest in optimising driver-vehicle interaction by improving vehicle dynamics. Understanding the relation between subjective and objective assessment of vehicle dynamics is an increasingly important issue. There are several reasons for these developments.

  19. 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.

  20. Family in Focus: On Design and Field Trial of the Dynamic Collage [DC

    NARCIS (Netherlands)

    René Bakker; Koen van Turnhout; Jasper Jeurens

    2014-01-01

    In this paper we present the design and field trial of the Dynamic Collage. The Dynamic Collage was designed to facilitate and to stimulate participation of family members in the informal care of an elderly person. The Dynamic Collage enabled relatives to update their current activity by sending a

  1. Optimal vehicle control

    NARCIS (Netherlands)

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

    2013-01-01

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

  2. 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.

  3. 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.

  4. 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.

  5. 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...

  6. 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.

  7. Multi-Objective Emergency Material Vehicle Dispatching and Routing under Dynamic Constraints in an Earthquake Disaster Environment

    Directory of Open Access Journals (Sweden)

    Jincheng Jiang

    2017-05-01

    Full Text Available Emergency material vehicle dispatching and routing (EMVDR is an important task in emergency relief after large-scale earthquake disasters. However, EMVDR is subject to dynamic disaster environment, with uncertainty surrounding elements such as the transportation network and relief materials. Accurate and dynamic emergency material dispatching and routing is difficult. This paper proposes an effective and efficient multi-objective multi-dynamic-constraint emergency material vehicle dispatching and routing model. Considering travel time, road capacity, and material supply and demand, the proposed EMVDR model is to deliver emergency materials from multiple emergency material depositories to multiple disaster points while satisfying the objectives of maximizing transport efficiency and minimizing the difference of material urgency degrees among multiple disaster points at any one time. Furthermore, a continuous-time dynamic network flow method is developed to solve this complicated model. The collected data from Ludian earthquake were used to conduct our experiments in the post-quake and the results demonstrate that: (1 the EMVDR model adapts to the dynamic disaster environment very well; (2 considering the difference of material urgency degree, the material loss ratio is −10.7%, but the variance of urgency degree decreases from 2.39 to 0.37; (3 the EMVDR model shows good performance in time and space, which allows for decisions to be made nearly in real time. This paper can provide spatial decision-making support for emergency material relief in large-scale earthquake disasters.

  8. 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.

  9. Coupled Simulation of Vehicle Dynamics and Tank Slosh. Phase 1 Report. Testing and Validation of Tank Slosh Analysis

    National Research Council Canada - National Science Library

    Wendel, Glenn

    2002-01-01

    .... Computational Fluid Dynamics (CFD) analysis software is available that can predict fluid slosh, however, the use of this software in accurately predicting fluid slosh for a military vehicle application has not been...

  10. 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

  11. Trial-to-trial dynamics of selective long-term-memory retrieval with continuously changing retrieval targets.

    Science.gov (United States)

    Kizilirmak, Jasmin M; Rösler, Frank; Khader, Patrick H

    2014-10-01

    How do we control the successive retrieval of behaviorally relevant information from long-term memory (LTM) without being distracted by other potential retrieval targets associated to the same retrieval cues? Here, we approach this question by investigating the nature of trial-by-trial dynamics of selective LTM retrieval, i.e., in how far retrieval in one trial has detrimental or facilitatory effects on selective retrieval in the following trial. Participants first learned associations between retrieval cues and targets, with one cue always being linked to three targets, forming small associative networks. In successive trials, participants had to access either the same or a different target belonging to either the same or a different cue. We found that retrieval times were faster for targets that had already been relevant in the previous trial, with this facilitatory effect being substantially weaker when the associative network changed in which the targets were embedded. Moreover, staying within the same network still had a facilitatory effect even if the target changed, which became evident in a relatively higher memory performance in comparison to a network change. Furthermore, event-related brain potentials (ERPs) showed topographically and temporally dissociable correlates of these effects, suggesting that they result from combined influences of distinct processes that aid memory retrieval when relevant and irrelevant targets change their status from trial to trial. Taken together, the present study provides insight into the different processing stages of memory retrieval when fast switches between retrieval targets are required. Copyright © 2014 Elsevier Inc. All rights reserved.

  12. Comparing cluster-level dynamic treatment regimens using sequential, multiple assignment, randomized trials: Regression estimation and sample size considerations.

    Science.gov (United States)

    NeCamp, Timothy; Kilbourne, Amy; Almirall, Daniel

    2017-08-01

    Cluster-level dynamic treatment regimens can be used to guide sequential treatment decision-making at the cluster level in order to improve outcomes at the individual or patient-level. In a cluster-level dynamic treatment regimen, the treatment is potentially adapted and re-adapted over time based on changes in the cluster that could be impacted by prior intervention, including aggregate measures of the individuals or patients that compose it. Cluster-randomized sequential multiple assignment randomized trials can be used to answer multiple open questions preventing scientists from developing high-quality cluster-level dynamic treatment regimens. In a cluster-randomized sequential multiple assignment randomized trial, sequential randomizations occur at the cluster level and outcomes are observed at the individual level. This manuscript makes two contributions to the design and analysis of cluster-randomized sequential multiple assignment randomized trials. First, a weighted least squares regression approach is proposed for comparing the mean of a patient-level outcome between the cluster-level dynamic treatment regimens embedded in a sequential multiple assignment randomized trial. The regression approach facilitates the use of baseline covariates which is often critical in the analysis of cluster-level trials. Second, sample size calculators are derived for two common cluster-randomized sequential multiple assignment randomized trial designs for use when the primary aim is a between-dynamic treatment regimen comparison of the mean of a continuous patient-level outcome. The methods are motivated by the Adaptive Implementation of Effective Programs Trial which is, to our knowledge, the first-ever cluster-randomized sequential multiple assignment randomized trial in psychiatry.

  13. 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 ...

  14. Treatment of Multiple-Resistant and/or Recurrent Cutaneous Warts With Squaric Acid Dibutylester: A Randomized, Double-blind, Vehicle-controlled Clinical Trial.

    Science.gov (United States)

    DallʼOglio, Federica; Luca, Maria; Barresi, Sebastiano; Micali, Giuseppe

    Contact immunotherapy with squaric acid dibutylester (SADBE) for cutaneous warts has been reported to be effective, although no controlled studies are available so far. The aim of this study was to evaluate the efficacy of SADBE on cutaneous warts by a randomized, double-blind, vehicle-controlled, clinical trial. Thirty-six patients were randomly assigned to SADBE (18 cases) or vehicle (18 cases) group. At 8 weeks, subjects were clinically evaluated for number/size reduction rate and for Investigator Global Assessment. Those who showed improvement extended therapy up to 40 weeks, whereas those who showed unresponsiveness were either switched to SADBE application for up to 48 weeks (if in the vehicle group) or withdrawn from the study (if under SADBE). At 8 weeks, a significant reduction in wart number (P = 0.020) and size (P = 0.010) in the SADBE group, with clearing rates of 41.2% versus 12.5% in the SADBE and vehicle groups, respectively, was observed. Nine remaining SADBE responders who underwent treatment extension up to 40 weeks achieved clearing versus 2 patients of the vehicle group who remained unresponsive. Clearing was obtained in 81.8% of patients who underwent previous ineffective vehicle treatment and had been switched to SADBE. Squaric acid dibutylester is an effective therapeutic option and is significantly more effective than vehicle.

  15. 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

  16. 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...

  17. 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...

  18. 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.

  19. 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.

  20. 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....

  1. On the required complexity of vehicle dynamic models for use in simulation-based highway design.

    Science.gov (United States)

    Brown, Alexander; Brennan, Sean

    2014-06-01

    This paper presents the results of a comprehensive project whose goal is to identify roadway design practices that maximize the margin of safety between the friction supply and friction demand. This study is motivated by the concern for increased accident rates on curves with steep downgrades, geometries that contain features that interact in all three dimensions - planar curves, grade, and superelevation. This complexity makes the prediction of vehicle skidding quite difficult, particularly for simple simulation models that have historically been used for road geometry design guidance. To obtain estimates of friction margin, this study considers a range of vehicle models, including: a point-mass model used by the American Association of State Highway Transportation Officials (AASHTO) design policy, a steady-state "bicycle model" formulation that considers only per-axle forces, a transient formulation of the bicycle model commonly used in vehicle stability control systems, and finally, a full multi-body simulation (CarSim and TruckSim) regularly used in the automotive industry for high-fidelity vehicle behavior prediction. The presence of skidding--the friction demand exceeding supply--was calculated for each model considering a wide range of vehicles and road situations. The results indicate that the most complicated vehicle models are generally unnecessary for predicting skidding events. However, there are specific maneuvers, namely braking events within lane changes and curves, which consistently predict the worst-case friction margins across all models. This suggests that any vehicle model used for roadway safety analysis should include the effects of combined cornering and braking. The point-mass model typically used by highway design professionals may not be appropriate to predict vehicle behavior on high-speed curves during braking in low-friction situations. However, engineers can use the results of this study to help select the appropriate vehicle dynamic

  2. 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.

  3. 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.

  4. FORMATION ALGORITHM OF DYNAMIC TURN FOR UNMANNED AERIAL VEHICLES ON APPROACH

    Directory of Open Access Journals (Sweden)

    Igor A. Chekhov

    2017-01-01

    Full Text Available Great interest in using unmanned aerial vehicles has recently been shown, both from economic entities, and from national security, defense and law enforcement agencies. However, for using UAV for the civil purposes there is now a number of problems which are connected with the use of airspace and without solving them it is impossible to use the UAV fully. It should be noted that the level of flight safety, both for regular aircraft, and for the UAV, has the primary value. It is necessary to use modern methods of data processing and to have an opportunity to quickly and effectively control the current flight safety level. For this purpose the fullest information on the current movement of aircraft and unmanned aerial vehicles, and also on the structure of the used airspace has to be used. The problem of procedures and maneuvers development that resolve potential traffic conflict including the UAV, is extremely important for air traffic safety especially in the vicinity of the destination or landing aerodrome. The possibility of creation of an algorithm of dynamic turn formation and the choice of a trajectory on approach of unmanned aerial vehicles is considered in this article. The technology of automatic dependent surveillance broadcast was used when collecting statistical data. Implementation of the landing algorithm is executed based on the criteria of ensuring efficiency and flight safety. The developed software provides the use only of open data on the aircraft movement in terminal airspace. The suggested algorithm can be adapted for air traffic management of the UAV in any selected airspace.

  5. 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.

  6. 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.

  7. 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.

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

    Directory of Open Access Journals (Sweden)

    Fang Wang

    2017-05-01

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

  9. Vehicle track interaction safety standards

    Science.gov (United States)

    2014-04-02

    Vehicle/Track Interaction (VTI) Safety Standards aim to : reduce the risk of derailments and other accidents attributable : to the dynamic interaction between moving vehicles and the : track over which they operate. On March 13, 2013, the Federal : R...

  10. 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.

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

    NARCIS (Netherlands)

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

    2017-01-01

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

  12. 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.

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

    Science.gov (United States)

    Wang, Jianqiang; Ni, Daiheng; Li, Keqiang

    2014-03-04

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

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

    Directory of Open Access Journals (Sweden)

    Huei Peng

    2013-04-01

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

  15. 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.

  16. 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.

  17. Dynamic electricity pricing for electric vehicles using stochastic programming

    International Nuclear Information System (INIS)

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

    2017-01-01

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

  18. 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.

  19. Sea trials of MARTIN - a European survey AUV

    DEFF Research Database (Denmark)

    Henriksen, Lars; Bjerrum, A.; Ishoy, A.

    1995-01-01

    are currently being performed. A new navigation system has been developed for MARTIN. The low-drag flat-fish shaped, modular designed hull has been thoroughly tested in a towing tank and in the open sea. The hydrodynamic parameters were used in computer simulations of the vehicle dynamics. An autopilot based...... software was developed by the Institute of Automation, Danish Technical University in co-operation with Reson AS and Maridan ApS. The paper includes a description of the navigation system, results from simulations and preliminary results from the first sea trials...

  20. 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).

  1. Dynamic Obstacle Avoidance for Unmanned Underwater Vehicles Based on an Improved Velocity Obstacle Method

    Directory of Open Access Journals (Sweden)

    Wei Zhang

    2017-11-01

    Full Text Available In view of a dynamic obstacle environment with motion uncertainty, we present a dynamic collision avoidance method based on the collision risk assessment and improved velocity obstacle method. First, through the fusion optimization of forward-looking sonar data, the redundancy of the data is reduced and the position, size and velocity information of the obstacles are obtained, which can provide an accurate decision-making basis for next-step collision avoidance. Second, according to minimum meeting time and the minimum distance between the obstacle and unmanned underwater vehicle (UUV, this paper establishes the collision risk assessment model, and screens key obstacles to avoid collision. Finally, the optimization objective function is established based on the improved velocity obstacle method, and a UUV motion characteristic is used to calculate the reachable velocity sets. The optimal collision speed of UUV is searched in velocity space. The corresponding heading and speed commands are calculated, and outputted to the motion control module. The above is the complete dynamic obstacle avoidance process. The simulation results show that the proposed method can obtain a better collision avoidance effect in the dynamic environment, and has good adaptability to the unknown dynamic environment.

  2. 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.

  3. 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.

  4. 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.

  5. Safety of high speed ground transportation systems: X2000 US demonstration vehicle dynamics trials, preliminary test report. Report for October 1992-January 1993

    Energy Technology Data Exchange (ETDEWEB)

    Whitten, B.T.; Kesler, J.K.

    1993-01-01

    The report documents the procedures, events, and results of vehicle dynamic tests carried out on the ASEA-Brown Boveri (ABB) X2000 tilt body trainset in the US between October 1992 and January 1993. These tests, sponsored by Amtrak and supported by the FRA, were conducted to assess the suitability of the X2000 trainset for safe operation at elevated cant deficiencies and speeds in Amtrak's Northeast Corridor under existing track conditions in a revenue service demonstration. The report describes the safety criteria against which the performance of the X2000 test train was examined, the instrumentation used, the test locations, and the track conditions. Preliminary results are presented from tests conducted on Amtrak lines between Philadelphia and Harrisburg, PA, and between Washington DC and New York NY, in which cant deficiencies of 12.5 inches and speeds of 154 mph were reached in a safe and controlled manner. The significance of the results is discussed, and preliminary conclusions and recommendations are presented.

  6. 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.

  7. 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...

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

    Science.gov (United States)

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

    2017-07-01

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

  9. RFID-Based Vehicle Positioning and Its Applications in Connected Vehicles

    Science.gov (United States)

    Wang, Jianqiang; Ni, Daiheng; Li, Keqiang

    2014-01-01

    This paper proposed an RFID-based vehicle positioning approach to facilitate connected vehicles applications. When a vehicle passes over an RFID tag, the vehicle position is given by the accurate position stored in the tag. At locations without RFID coverage, the vehicle position is estimated from the most recent tag location using a kinematics integration algorithm till updates from the next tag. The accuracy of RFID positioning is verified empirically in two independent ways with one using radar and the other a photoelectric switch. The former is designed to verify whether the dynamic position obtained from RFID tags matches the position measured by radar that is regarded as accurate. The latter aims to verify whether the position estimated from the kinematics integration matches the position obtained from RFID tags. Both means supports the accuracy of RFID-based positioning. As a supplement to GPS which suffers from issues such as inaccuracy and loss of signal, RFID positioning is promising in facilitating connected vehicles applications. Two conceptual applications are provided here with one in vehicle operational control and the other in Level IV intersection control. PMID:24599188

  10. RFID-Based Vehicle Positioning and Its Applications in Connected Vehicles

    Directory of Open Access Journals (Sweden)

    Jianqiang Wang

    2014-03-01

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

  11. 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.

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

    Science.gov (United States)

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

    2017-08-01

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

  13. 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.

  14. 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.

  15. The Potential Impact of Vehicle-to-Vehicle Communication on On-Street Parking Under Heterogeneous Conditions

    NARCIS (Netherlands)

    Tasseron, G.; Martens, C.J.C.M.; Heijden, R.E.C.M. van der

    2016-01-01

    The aim of this paper is to study the impacts of bottom-up information provision about on-street parking places on parking dynamics under heterogeneous conditions. Using an agent-based simulation model, performance is compared between a bottom-up vehicle-to-vehicle communication strategy and a

  16. 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.

  17. A Comprehensive Structural Dynamic Analysis Approach for Multi Mission Earth Entry Vehicle (MMEEV) Development

    Science.gov (United States)

    Perino, Scott; Bayandor, Javid; Siddens, Aaron

    2012-01-01

    The anticipated NASA Mars Sample Return Mission (MSR) requires a simple and reliable method in which to return collected Martian samples back to earth for scientific analysis. The Multi-Mission Earth Entry Vehicle (MMEEV) is NASA's proposed solution to this MSR requirement. Key aspects of the MMEEV are its reliable and passive operation, energy absorbing foam-composite structure, and modular impact sphere (IS) design. To aid in the development of an EEV design that can be modified for various missions requirements, two fully parametric finite element models were developed. The first model was developed in an explicit finite element code and was designed to evaluate the impact response of the vehicle and payload during the final stage of the vehicle's return to earth. The second model was developed in an explicit code and was designed to evaluate the static and dynamic structural response of the vehicle during launch and reentry. In contrast to most other FE models, built through a Graphical User Interface (GUI) pre-processor, the current model was developed using a coding technique that allows the analyst to quickly change nearly all aspects of the model including: geometric dimensions, material properties, load and boundary conditions, mesh properties, and analysis controls. Using the developed design tool, a full range of proposed designs can quickly be analyzed numerically and thus the design trade space for the EEV can be fully understood. An engineer can then quickly reach the best design for a specific mission and also adapt and optimize the general design for different missions.

  18. 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

  19. On-Track Testing as a Validation Method of Computational Fluid Dynamic Simulations of a Formula SAE Vehicle

    Science.gov (United States)

    Weingart, Robert

    This thesis is about the validation of a computational fluid dynamics simulation of a ground vehicle by means of a low-budget coast-down test. The vehicle is built to the standards of the 2014 Formula SAE rules. It is equipped with large wings in the front and rear of the car; the vertical loads on the tires are measured by specifically calibrated shock potentiometers. The coast-down test was performed on a runway of a local airport and is used to determine vehicle specific coefficients such as drag, downforce, aerodynamic balance, and rolling resistance for different aerodynamic setups. The test results are then compared to the respective simulated results. The drag deviates about 5% from the simulated to the measured results. The downforce numbers show a deviation up to 18% respectively. Moreover, a sensitivity analysis of inlet velocities, ride heights, and pitch angles was performed with the help of the computational simulation.

  20. Influence of Housing Wall Compliance on Shock Absorbers in the Context of Vehicle Dynamics

    Science.gov (United States)

    Pulvirenti, G.; Faria, C.

    2017-10-01

    Shock absorbers play a key role in vehicle dynamics. Researchers have spent significant effort in order to understand phenomena associated with this component, but there are still several issues to address, in part because new technology development and design trends continually lead to new challenges, among which weight reduction is crucial. For shock absorbers, weight reduction is related to the use of new materials (e.g. composite) or new design paradigms (e.g. more complex geometry, wall thickness, etc.). All of them are directly linked to wall compliance values higher than the actual ones. The present article proposes a first analysis of the phenomena introduced by a high wall compliance, through a modelling approach and various simulations in order to understand the vehicle behaviour changes. It is shown that high values of wall compliance lead to increased hysteresis in the force-velocity curve. However, comfort, handling and ride performances are not significantly affected by this designing parameter.

  1. A Phase III, Multicenter, Parallel-Design Clinical Trial to Compare the Efficacy and Safety of 5% Minoxidil Foam Versus Vehicle in Women With Female Pattern Hair Loss.

    Science.gov (United States)

    Bergfeld, Wilma; Washenik, Ken; Callender, Valerie; Zhang, Paul; Quiza, Carlos; Doshi, Uday; Blume-Peytavi, Ulrike

    2016-07-01

    BACKGROUND Female pattern hair loss (FPHL) is a common hair disorder that affects millions of women. A new 5% minoxidil topical foam (MTF) formulation, which does not contain propylene glycol, has been developed. To compare the efficacy and safety of once-daily 5% MTF with vehicle foam for the treatment of FPHL. This was a Phase III, randomized, double-blind, vehicle-controlled, parallel-group, international multicenter trial (17 sites) in women aged at least 18 years with FPHL (grade D3 to D6 on the Savin Density Scale), treated once daily with 5% MTF or vehicle foam for 24 weeks. The co-primary efficacy endpoints were the change from baseline at week 24 in target area hair count (TAHC) and subject assessment of scalp coverage. Also evaluated were TAHC at week 12, expert panel review of hair regrowth at week 24, and change from baseline in total unit area density (TUAD, sum of hair diameters/cm2) at weeks 12 and 24. A total of 404 women were enrolled. At 12 and 24 weeks, 5% MTF treatment resulted in regrowth of 10.9 hairs/cm2 and 9.1 hairs/cm2 more than vehicle foam, respectively (both P<.0001). Improved scalp coverage at week 24 was observed by both subject self-assessment (0.69-point improvement over vehicle foam; P<.0001) and expert panel review (0.36-point improvement over the vehicle foam; P<.0001). TUAD increased by 658 μm/cm2 and 644 μm/cm2 more with 5% MTF than with vehicle foam at weeks 12 and 24, respectively (both P<.0001). MTF was well tolerated. A low incidence of scalp irritation and facial hypertrichosis was observed, with no clinically significant differences between groups. Five percent MTF once daily for 24 weeks was well tolerated and promoted hair regrowth in women with FPHL, resulting in improved scalp coverage and increased hair density compared with vehicle foam. ClinicalTrials.gov identifier: nCT01226459J Drugs Dermatol. 2016;15(7):874-881.

  2. Application of Novel Lateral Tire Force Sensors to Vehicle Parameter Estimation of Electric Vehicles.

    Science.gov (United States)

    Nam, Kanghyun

    2015-11-11

    This article presents methods for estimating lateral vehicle velocity and tire cornering stiffness, which are key parameters in vehicle dynamics control, using lateral tire force measurements. Lateral tire forces acting on each tire are directly measured by load-sensing hub bearings that were invented and further developed by NSK Ltd. For estimating the lateral vehicle velocity, tire force models considering lateral load transfer effects are used, and a recursive least square algorithm is adapted to identify the lateral vehicle velocity as an unknown parameter. Using the estimated lateral vehicle velocity, tire cornering stiffness, which is an important tire parameter dominating the vehicle's cornering responses, is estimated. For the practical implementation, the cornering stiffness estimation algorithm based on a simple bicycle model is developed and discussed. Finally, proposed estimation algorithms were evaluated using experimental test data.

  3. 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

  4. Calcipotriene plus betamethasone dipropionate topical suspension for the treatment of mild to moderate psoriasis vulgaris on the body: a randomized, double-blind, vehicle-controlled trial.

    Science.gov (United States)

    Menter, Alan; Gold, Linda Stein; Bukhalo, Michael; Grekin, Steven; Kempers, Steven; Boyce, Brent M; Ganslandt, Cecilia; Villumsen, John; Lebwohl, Mark

    2013-01-01

    A combination topical suspension/gel containing calcipotriene plus betamethasone dipropionate has been developed as a safe and effective treatment for patients with psoriasis vulgaris of the scalp. This same preparation has the potential to be a convenient, effective, and cosmetically appealing formulation for psoriasis on the body. This trial evaluated the efficacy and safety of a topical suspension containing calcipotriene plus betamethasone dipropionate compared with its constituent components and topical suspension vehicle in the treatment of mild to moderate psoriasis on the trunk and limbs. This was a randomized, double-blind, vehicle-controlled, 4-arm trial in 1,152 subjects. The co-primary efficacy end points were the proportion of subjects achieving controlled disease based on the Investigators' Global Assessment of disease severity at weeks 4 and 8. Adverse events, vital signs, and clinical laboratory measurements were also assessed. At week 4, a greater proportion of subjects in the calcipotriene plus betamethasone group achieved controlled disease compared with subjects in the calcipotriene-only and vehicle-only treatment groups. At week 8, a statistically significantly (Psuspension containing calcipotriene plus betamethasone dipropionate traditionally used for scalp psoriasis is also a safe and effective once-daily treatment for psoriasis vulgaris on the body.

  5. Inverse Force Determination on a Small Scale Launch Vehicle Model Using a Dynamic Balance

    Science.gov (United States)

    Ngo, Christina L.; Powell, Jessica M.; Ross, James C.

    2017-01-01

    A launch vehicle can experience large unsteady aerodynamic forces in the transonic regime that, while usually only lasting for tens of seconds during launch, could be devastating if structural components and electronic hardware are not designed to account for them. These aerodynamic loads are difficult to experimentally measure and even harder to computationally estimate. The current method for estimating buffet loads is through the use of a few hundred unsteady pressure transducers and wind tunnel test. Even with a large number of point measurements, the computed integrated load is not an accurate enough representation of the total load caused by buffeting. This paper discusses an attempt at using a dynamic balance to experimentally determine buffet loads on a generic scale hammer head launch vehicle model tested at NASA Ames Research Center's 11' x 11' transonic wind tunnel. To use a dynamic balance, the structural characteristics of the model needed to be identified so that the natural modal response could be and removed from the aerodynamic forces. A finite element model was created on a simplified version of the model to evaluate the natural modes of the balance flexures, assist in model design, and to compare to experimental data. Several modal tests were conducted on the model in two different configurations to check for non-linearity, and to estimate the dynamic characteristics of the model. The experimental results were used in an inverse force determination technique with a psuedo inverse frequency response function. Due to the non linearity, the model not being axisymmetric, and inconsistent data between the two shake tests from different mounting configuration, it was difficult to create a frequency response matrix that satisfied all input and output conditions for wind tunnel configuration to accurately predict unsteady aerodynamic loads.

  6. Development of collision dynamics models to estimate the results of full-scale rail vehicle impact tests : Tufts University Master's Thesis

    Science.gov (United States)

    2000-11-01

    In an effort to study occupant survivability in train collisions, analyses and tests were conducted to understand and improve the crashworthiness of rail vehicles. A collision dynamics model was developed in order to estimate the rigid body motion of...

  7. 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.

  8. Spatiotemporal dynamics of random stimuli account for trial-to-trial variability in perceptual decision making

    Science.gov (United States)

    Park, Hame; Lueckmann, Jan-Matthis; von Kriegstein, Katharina; Bitzer, Sebastian; Kiebel, Stefan J.

    2016-01-01

    Decisions in everyday life are prone to error. Standard models typically assume that errors during perceptual decisions are due to noise. However, it is unclear how noise in the sensory input affects the decision. Here we show that there are experimental tasks for which one can analyse the exact spatio-temporal details of a dynamic sensory noise and better understand variability in human perceptual decisions. Using a new experimental visual tracking task and a novel Bayesian decision making model, we found that the spatio-temporal noise fluctuations in the input of single trials explain a significant part of the observed responses. Our results show that modelling the precise internal representations of human participants helps predict when perceptual decisions go wrong. Furthermore, by modelling precisely the stimuli at the single-trial level, we were able to identify the underlying mechanism of perceptual decision making in more detail than standard models. PMID:26752272

  9. Three-dimensional computer simulation at vehicle collision using dynamic model. Application to various collision types; Rikigaku model ni yoru jidosha shototsuji no sanjigen kyodo simulation. Shushu no shototsu keitai eno tekiyo

    Energy Technology Data Exchange (ETDEWEB)

    Abe, M; Morisawa, M [Musashi Institute of Technology, Tokyo (Japan); Sato, T [Keio University, Tokyo (Japan); Kobayashi, K [Molex-Japan Co. Ltd., Tokyo (Japan)

    1997-10-01

    The past study of safety at vehicle collision pays attention to phenomena within the short time from starting collision, and the behavior of rollover is studied separating from that at collision. Most simulations of traffic accident are two-dimensional simulations. Therefore, it is indispensable for vehicle design to the analyze three-dimensional and continuous behavior from crash till stopping. Accordingly, in this study, the three-dimensional behavior of two vehicles at collision was simulated by computer using dynamic models. Then, by comparison of the calculated results with real vehicles` collision test data, it was confirmed that dynamic model of this study was reliable. 10 refs., 6 figs., 3 tabs.

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

    Digital Repository Service at National Institute of Oceanography (India)

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

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

  11. 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...

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

    Directory of Open Access Journals (Sweden)

    Hongbo Gao

    2017-12-01

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

  13. Longitudinal Control for Mengshi Autonomous Vehicle via Cloud Model

    Science.gov (United States)

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

    2018-03-01

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

  14. Within- and across-trial dynamics of human EEG reveal cooperative interplay between reinforcement learning and working memory.

    Science.gov (United States)

    Collins, Anne G E; Frank, Michael J

    2018-03-06

    Learning from rewards and punishments is essential to survival and facilitates flexible human behavior. It is widely appreciated that multiple cognitive and reinforcement learning systems contribute to decision-making, but the nature of their interactions is elusive. Here, we leverage methods for extracting trial-by-trial indices of reinforcement learning (RL) and working memory (WM) in human electro-encephalography to reveal single-trial computations beyond that afforded by behavior alone. Neural dynamics confirmed that increases in neural expectation were predictive of reduced neural surprise in the following feedback period, supporting central tenets of RL models. Within- and cross-trial dynamics revealed a cooperative interplay between systems for learning, in which WM contributes expectations to guide RL, despite competition between systems during choice. Together, these results provide a deeper understanding of how multiple neural systems interact for learning and decision-making and facilitate analysis of their disruption in clinical populations.

  15. 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.

  16. Joint symbolic dynamic analysis of cardiorespiratory interactions in patients on weaning trials.

    Science.gov (United States)

    Caminal, P; Giraldo, B; Zabaleta, H; Vallverdu, M; Benito, S; Ballesteros, D; Lopez-Rodriguez, L; Esteban, A; Baumert, M; Voss, A

    2005-01-01

    Assessing autonomic control provides information about patho-physiological imbalances. Measures of variability of the cardiac interbeat duration RR(n) and the variability of the breath duration TTot(n) are sensitive to those changes. The interactions between RR(n) and TTot(n) are complex and strongly non-linear. A study of joint symbolic dynamics is presented as a new short-term non-linear analysis method to investigate these interactions in patients on weaning trials. 78 patients from mechanical ventilation are studied: Group A (patients that failed to maintain spontaneous breathing and were reconnected) and Group B (patients with successful trials). Using the concept of joint symbolic dynamics, cardiac and respiratory changes were transformed into a word series, and the probability of occurrence of each word type was calculated and compared between both groups. Significant differences were found in 13 words, and the most significant pn(Wc010, r010): 0.0041 ± 0.0036 (group A) against 0.0012 ± 0.0024 (group B), p-value = 0.00001. The number of seldom occurring word types (forbidden words) also presents significant differences fwcr: 6.9 ± 6.6 against 13.5 ± 5.3, p-value = 0.00004. Joint symbolic dynamics provides an efficient non-linear representation of cardiorespiratory interactions that offers simple physiological interpretations.

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

    Directory of Open Access Journals (Sweden)

    Lin-Lin Wang

    2015-05-01

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

  18. Plug-in hybrid electric vehicles in dynamical energy markets

    NARCIS (Netherlands)

    Kessels, J.T.B.A.; Bosch, P.P.J. van den

    2008-01-01

    The plug-in hybrid electric vehicle allows vehicle propulsion from multiple internal power sources. Electric energy from the grid can be utilized by means of the plug-in connection. An on-line energy management (EM) strategy is proposed to minimize the costs for taking energy from each power source.

  19. 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,...

  20. Dynamic Vehicle Routing Using an Improved Variable Neighborhood Search Algorithm

    Directory of Open Access Journals (Sweden)

    Yingcheng Xu

    2013-01-01

    Full Text Available In order to effectively solve the dynamic vehicle routing problem with time windows, the mathematical model is established and an improved variable neighborhood search algorithm is proposed. In the algorithm, allocation customers and planning routes for the initial solution are completed by the clustering method. Hybrid operators of insert and exchange are used to achieve the shaking process, the later optimization process is presented to improve the solution space, and the best-improvement strategy is adopted, which make the algorithm can achieve a better balance in the solution quality and running time. The idea of simulated annealing is introduced to take control of the acceptance of new solutions, and the influences of arrival time, distribution of geographical location, and time window range on route selection are analyzed. In the experiment, the proposed algorithm is applied to solve the different sizes' problems of DVRP. Comparing to other algorithms on the results shows that the algorithm is effective and feasible.

  1. A Trial-and-Error Method with Autonomous Vehicle-to-Infrastructure Traffic Counts for Cordon-Based Congestion Pricing

    Directory of Open Access Journals (Sweden)

    Zhiyuan Liu

    2017-01-01

    Full Text Available This study proposes a practical trial-and-error method to solve the optimal toll design problem of cordon-based pricing, where only the traffic counts autonomously collected on the entry links of the pricing cordon are needed. With the fast development and adoption of vehicle-to-infrastructure (V2I facilities, it is very convenient to autonomously collect these data. Two practical properties of the cordon-based pricing are further considered in this article: the toll charge on each entry of one pricing cordon is identical; the total inbound flow to one cordon should be restricted in order to maintain the traffic conditions within the cordon area. Then, the stochastic user equilibrium (SUE with asymmetric link travel time functions is used to assess each feasible toll pattern. Based on a variational inequality (VI model for the optimal toll pattern, this study proposes a theoretically convergent trial-and-error method for the addressed problem, where only traffic counts data are needed. Finally, the proposed method is verified based on a numerical network example.

  2. Comparison performance of split plug-in hybrid electric vehicle and hybrid electric vehicle using ADVISOR

    Directory of Open Access Journals (Sweden)

    Mohd Rashid Muhammad Ikram

    2017-01-01

    Full Text Available Electric vehicle suffers from relatively short range and long charging times and consequently has not become an acceptable solution to the automotive consumer. The addition of an internal combustion engine to extend the range of the electric vehicle is one method of exploiting the high efficiency and lack of emissions of the electric vehicle while retaining the range and convenient refuelling times of a conventional gasoline powered vehicle. The term that describes this type of vehicle is a hybrid electric vehicle. Many configurations of hybrid electric vehicles have been designed and implemented, namely the series, parallel and power-split configurations. This paper discusses the comparison between Split Plug-in Hybrid Electric Vehicle(SPHEV and Hybrid Electric Vehicle(HEV. Modelling methods such as physics-based Resistive Companion Form technique and Bond Graph method are presented with powertrain component and system modelling examples. The modelling and simulation capability of existing tools such as ADvanced VehIcle SimulatOR (ADVISOR is demonstrated through application examples. Since power electronics is indispensable in hybrid vehicles, the issue of numerical oscillations in dynamic simulations involving power electronics is briefly addressed.

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

    Directory of Open Access Journals (Sweden)

    Jing Lian

    2017-01-01

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

  4. Computational Fluid Dynamics (CFD) Image of Hyper-X Research Vehicle at Mach 7 with Engine Operating

    Science.gov (United States)

    1997-01-01

    This computational fluid dynamics (CFD) image shows the Hyper-X vehicle at a Mach 7 test condition with the engine operating. The solution includes both internal (scramjet engine) and external flow fields, including the interaction between the engine exhaust and vehicle aerodynamics. The image illustrates surface heat transfer on the vehicle surface (red is highest heating) and flowfield contours at local Mach number. The last contour illustrates the engine exhaust plume shape. This solution approach is one method of predicting the vehicle performance, and the best method for determination of vehicle structural, pressure and thermal design loads. The Hyper-X program is an ambitious series of experimental flights to expand the boundaries of high-speed aeronautics and develop new technologies for space access. When the first of three aircraft flies, it will be the first time a non-rocket engine has powered a vehicle in flight at hypersonic speeds--speeds above Mach 5, equivalent to about one mile per second or approximately 3,600 miles per hour at sea level. Hyper-X, the flight vehicle for which is designated as X-43A, is an experimental flight-research program seeking to demonstrate airframe-integrated, 'air-breathing' engine technologies that promise to increase payload capacity for future vehicles, including hypersonic aircraft (faster than Mach 5) and reusable space launchers. This multiyear program is currently underway at NASA Dryden Flight Research Center, Edwards, California. The Hyper-X schedule calls for its first flight later this year (2000). Hyper-X is a joint program, with Dryden sharing responsibility with NASA's Langley Research Center, Hampton, Virginia. Dryden's primary role is to fly three unpiloted X-43A research vehicles to validate engine technologies and hypersonic design tools as well as the hypersonic test facility at Langley. Langley manages the program and leads the technology development effort. The Hyper-X Program seeks to significantly

  5. Orbital Dynamics of Low-Earth Orbit Laser-Propelled Space Vehicles

    International Nuclear Information System (INIS)

    Yamakawa, Hiroshi; Funaki, Ikkoh; Komurasaki, Kimiya

    2008-01-01

    Trajectories applicable to laser-propelled space vehicles with a laser station in low-Earth orbit are investigated. Laser vehicles are initially located in the vicinity of the Earth-orbiting laser station in low-earth orbit at an altitude of several hundreds kilometers, and are accelerated by laser beaming from the laser station. The laser-propelled vehicles start from low-earth orbit and finally escape from the Earth gravity well, enabling interplanetary trajectories and planetary exploration

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

    Science.gov (United States)

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

    2015-10-01

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

  7. Feasible Path Planning for Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Vu Trieu Minh

    2014-01-01

    Full Text Available The objective of this paper is to find feasible path planning algorithms for nonholonomic vehicles including flatness, polynomial, and symmetric polynomial trajectories subject to the real vehicle dynamical constraints. Performances of these path planning methods are simulated and compared to evaluate the more realistic and smoother generated trajectories. Results show that the symmetric polynomial algorithm provides the smoothest trajectory. Therefore, this algorithm is recommended for the development of an automatic control for autonomous vehicles.

  8. Application of Novel Lateral Tire Force Sensors to Vehicle Parameter Estimation of Electric Vehicles

    Directory of Open Access Journals (Sweden)

    Kanghyun Nam

    2015-11-01

    Full Text Available This article presents methods for estimating lateral vehicle velocity and tire cornering stiffness, which are key parameters in vehicle dynamics control, using lateral tire force measurements. Lateral tire forces acting on each tire are directly measured by load-sensing hub bearings that were invented and further developed by NSK Ltd. For estimating the lateral vehicle velocity, tire force models considering lateral load transfer effects are used, and a recursive least square algorithm is adapted to identify the lateral vehicle velocity as an unknown parameter. Using the estimated lateral vehicle velocity, tire cornering stiffness, which is an important tire parameter dominating the vehicle’s cornering responses, is estimated. For the practical implementation, the cornering stiffness estimation algorithm based on a simple bicycle model is developed and discussed. Finally, proposed estimation algorithms were evaluated using experimental test data.

  9. Integrated robust controller for vehicle path following

    Energy Technology Data Exchange (ETDEWEB)

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

    2015-02-15

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

  10. Integrated robust controller for vehicle path following

    International Nuclear Information System (INIS)

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

    2015-01-01

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

  11. 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.

  12. An extended supersonic combustion model for the dynamic analysis of hypersonic vehicles

    Science.gov (United States)

    Bossard, J. A.; Peck, R. E.; Schmidt, D. K.

    1993-01-01

    The development of an advanced dynamic model for aeroelastic hypersonic vehicles powered by air breathing engines requires an adequate engine model. This report provides a discussion of some of the more important features of supersonic combustion and their relevance to the analysis and design of supersonic ramjet engines. Of particular interest are those aspects of combustion that impact the control of the process. Furthermore, the report summarizes efforts to enhance the aeropropulsive/aeroelastic dynamic model developed at the Aerospace Research Center of Arizona State University by focusing on combustion and improved modeling of this flow. The expanded supersonic combustor model described here has the capability to model the effects of friction, area change, and mass addition, in addition to the heat addition process. A comparison is made of the results from four cases: (1) heat addition only; (2) heat addition plus friction; (3) heat addition, friction, and area reduction, and (4) heat addition, friction, area reduction, and mass addition. The relative impact of these effects on the Mach number, static temperature, and static pressure distributions within the combustor are then shown. Finally, the effects of frozen versus equilibrium flow conditions within the exhaust plume is discussed.

  13. Calculation of ground vibration spectra from heavy military vehicles

    Science.gov (United States)

    Krylov, V. V.; Pickup, S.; McNuff, J.

    2010-07-01

    The demand for reliable autonomous systems capable to detect and identify heavy military vehicles becomes an important issue for UN peacekeeping forces in the current delicate political climate. A promising method of detection and identification is the one using the information extracted from ground vibration spectra generated by heavy military vehicles, often termed as their seismic signatures. This paper presents the results of the theoretical investigation of ground vibration spectra generated by heavy military vehicles, such as tanks and armed personnel carriers. A simple quarter car model is considered to identify the resulting dynamic forces applied from a vehicle to the ground. Then the obtained analytical expressions for vehicle dynamic forces are used for calculations of generated ground vibrations, predominantly Rayleigh surface waves, using Green's function method. A comparison of the obtained theoretical results with the published experimental data shows that analytical techniques based on the simplified quarter car vehicle model are capable of producing ground vibration spectra of heavy military vehicles that reproduce basic properties of experimental spectra.

  14. 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.

  15. Dynamic behavior of gasoline fuel cell electric vehicles

    Science.gov (United States)

    Mitchell, William; Bowers, Brian J.; Garnier, Christophe; Boudjemaa, Fabien

    As we begin the 21st century, society is continuing efforts towards finding clean power sources and alternative forms of energy. In the automotive sector, reduction of pollutants and greenhouse gas emissions from the power plant is one of the main objectives of car manufacturers and innovative technologies are under active consideration to achieve this goal. One technology that has been proposed and vigorously pursued in the past decade is the proton exchange membrane (PEM) fuel cell, an electrochemical device that reacts hydrogen with oxygen to produce water, electricity and heat. Since today there is no existing extensive hydrogen infrastructure and no commercially viable hydrogen storage technology for vehicles, there is a continuing debate as to how the hydrogen for these advanced vehicles will be supplied. In order to circumvent the above issues, power systems based on PEM fuel cells can employ an on-board fuel processor that has the ability to convert conventional fuels such as gasoline into hydrogen for the fuel cell. This option could thereby remove the fuel infrastructure and storage issues. However, for these fuel processor/fuel cell vehicles to be commercially successful, issues such as start time and transient response must be addressed. This paper discusses the role of transient response of the fuel processor power plant and how it relates to the battery sizing for a gasoline fuel cell vehicle. In addition, results of fuel processor testing from a current Renault/Nuvera Fuel Cells project are presented to show the progress in transient performance.

  16. 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.

  17. Simulation modeling of wheeled vehicle dynamics on the stand "Roller"

    Directory of Open Access Journals (Sweden)

    G. O. Kotiev

    2014-01-01

    Full Text Available The tests are an integral part of the wheeled vehicle design, manufacturing, and operation. The need for their conducting arises from the research and experimental activities to assess the qualitative and quantitative characteristics of the vehicles in general, as well as the individual components and assemblies. It is obvious that a variety of design features of wheeled vehicles request a development of methods both for experimental studies and for creating the original bench equipment for these purposes.The main positive feature of bench tests of automotive engineering is a broad capability to control the combinations of traction loads, speed rates, and external input conditions. Here, the steady state conditions can be used for a long time, allowing all the necessary measurements to be made, including those with video and photo recording experiment.It is known that the benefits of test "M" type (using a roller dynamometer include a wide range of test modes, which do not depend on the climatic conditions, as well as a capability to use a computer-aided testing programs. At the same time, it is known that the main drawback of bench tests of full-size vehicle is that the tire rolling conditions on the drum mismatch to the real road pavements, which are difficult to simulate on the drum surface. This problem can be solved owing to wheeled vehicle tests at the benches "Roller" to be, in efficiency, the most preferable research method. The article gives a detailed presentation of developed at BMSTU approach to its solving.Problem of simulation mathematical modeling has been solved for the vehicle with the wheel formula 8 × 8, and individual wheel-drive.The simulation results have led to the conclusion that the proposed principle to simulate a vehicle rolling on a smooth non-deformable support base using a bench " Roller " by simulation modeling is efficient.

  18. 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.

  19. Optimization of hydrogen vehicle refueling via dynamic simulation

    DEFF Research Database (Denmark)

    Rothuizen, Erasmus Damgaard; Mérida, W.; Rokni, Masoud

    2013-01-01

    loss in the vehicle's storage system is one of the main factors determining the mass flow and peak cooling requirements of the refueling process. The design of the refueling station does not influence the refueling of the vehicle when the requirements of the technical information report J2601 from...... Society of Automotive Engineers are met. However, by using multiple pressure stages in the tanks at the refueling station (instead of a single high-pressure tank), the total energy demand for cooling can be reduced by 12%, and the compressor power consumption can be reduced by 17%. The time between...

  20. Study on Reverse Reconstruction Method of Vehicle Group Situation in Urban Road Network Based on Driver-Vehicle Feature Evolution

    Directory of Open Access Journals (Sweden)

    Xiaoyuan Wang

    2017-01-01

    Full Text Available Vehicle group situation is the status and situation of dynamic permutation which is composed of target vehicle and neighboring traffic entities. It is a concept which is frequently involved in the research of traffic flow theory, especially the active vehicle security. Studying vehicle group situation in depth is of great significance for traffic safety. Three-lane condition was taken as an example; the characteristics of target vehicle and its neighboring vehicles were synthetically considered to restructure the vehicle group situation in this paper. The Gamma distribution theory was used to identify the vehicle group situation when target vehicle arrived at the end of the study area. From the perspective of driver-vehicle feature evolution, the reverse reconstruction method of vehicle group situation in the urban road network was proposed. Results of actual driving, virtual driving, and simulation experiments showed that the model established in this paper was reasonable and feasible.

  1. Magnetically suspended experimental vehicle-strength of structure and dynamic analysis

    Energy Technology Data Exchange (ETDEWEB)

    Nagahiro, T; Terada, K; Kasai, Y; Motonaga, M

    1973-06-01

    To cope with rapid increase in demand for railroad transportation, studies in magnetically suspended high speed trains are being pushed forward at the Japanese National Railways. Recently a special experimental vehiclc was completed which will be used by JNR in experiments concerning magnetic propulsion and suspension of magnetically suspended high speed trains. This test vehicle is provided with reaction plates of linear induction motor under the floor at about the center of the vehicle, with superconducting magnets for suspension on both sides. The vehicle body is made mainly of high tensile strengthened aluminium (duralumin) for weight reduction, but its strength was checked by the vibration analysis and load tests carried out in the suspended condition. Remote-operated from the control tower, this unmanned test vehicle will provide a key to the completion of a super-high speed magnetically suspended train.

  2. 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.

  3. 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.

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

    Science.gov (United States)

    2014-06-18

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

  5. 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.

  6. Comparisons of Energy Management Methods for a Parallel Plug-In Hybrid Electric Vehicle between the Convex Optimization and Dynamic Programming

    Directory of Open Access Journals (Sweden)

    Renxin Xiao

    2018-01-01

    Full Text Available This paper proposes a comparison study of energy management methods for a parallel plug-in hybrid electric vehicle (PHEV. Based on detailed analysis of the vehicle driveline, quadratic convex functions are presented to describe the nonlinear relationship between engine fuel-rate and battery charging power at different vehicle speed and driveline power demand. The engine-on power threshold is estimated by the simulated annealing (SA algorithm, and the battery power command is achieved by convex optimization with target of improving fuel economy, compared with the dynamic programming (DP based method and the charging depleting–charging sustaining (CD/CS method. In addition, the proposed control methods are discussed at different initial battery state of charge (SOC values to extend the application. Simulation results validate that the proposed strategy based on convex optimization can save the fuel consumption and reduce the computation burden obviously.

  7. Launch Vehicle Failure Dynamics and Abort Triggering Analysis

    Science.gov (United States)

    Hanson, John M.; Hill, Ashely D.; Beard, Bernard B.

    2011-01-01

    Launch vehicle ascent is a time of high risk for an on-board crew. There are many types of failures that can kill the crew if the crew is still on-board when the failure becomes catastrophic. For some failure scenarios, there is plenty of time for the crew to be warned and to depart, whereas in some there is insufficient time for the crew to escape. There is a large fraction of possible failures for which time is of the essence and a successful abort is possible if the detection and action happens quickly enough. This paper focuses on abort determination based primarily on data already available from the GN&C system. This work is the result of failure analysis efforts performed during the Ares I launch vehicle development program. Derivation of attitude and attitude rate abort triggers to ensure that abort occurs as quickly as possible when needed, but that false positives are avoided, forms a major portion of the paper. Some of the potential failure modes requiring use of these triggers are described, along with analysis used to determine the success rate of getting the crew off prior to vehicle demise.

  8. Method of transmission of dynamic multibit digital images from micro-unmanned aerial vehicles

    Science.gov (United States)

    Petrov, E. P.; Kharina, N. L.

    2018-01-01

    In connection with successful usage of nanotechnologies in remote sensing great attention is paid to the systems in micro-unmanned aerial vehicles (MUAVs) capable to provide high spatial resolution of dynamic multibit digital images (MDI). Limited energy resources on board the MUAV do not allow transferring a large amount of video information in the shortest possible time. It keeps back the broad development of MUAV. The search for methods to shorten the transmission time of dynamic MDIs from MUAV over the radio channel leads to the methods of MDI compression without computational operations onboard the MUAV. The known compression codecs of video information can not be applied because of the limited energy resources. In this paper we propose a method for reducing the transmission time of dynamic MDIs without computational operations and distortions onboard the MUAV. To develop the method a mathematical apparatus of the theory of conditional Markov processes with discrete arguments was used. On its basis a mathematical model for the transformation of the MDI represented by binary images (BI) in the MDI, consisting of groups of neighboring BIs (GBI) transmitted by multiphase (MP) signals, is constructed. The algorithm for multidimensional nonlinear filtering of MP signals is synthesized, realizing the statistical redundancy of the MDI to compensate for the noise stability losses caused by the use of MP signals.

  9. Dynamic Vehicle Detection via the Use of Magnetic Field Sensors

    Directory of Open Access Journals (Sweden)

    Vytautas Markevicius

    2016-01-01

    Full Text Available The vehicle detection process plays the key role in determining the success of intelligent transport management system solutions. The measurement of distortions of the Earth’s magnetic field using magnetic field sensors served as the basis for designing a solution aimed at vehicle detection. In accordance with the results obtained from research into process modeling and experimentally testing all the relevant hypotheses an algorithm for vehicle detection using the state criteria was proposed. Aiming to evaluate all of the possibilities, as well as pros and cons of the use of anisotropic magnetoresistance (AMR sensors in the transport flow control process, we have performed a series of experiments with various vehicles (or different series from several car manufacturers. A comparison of 12 selected methods, based on either the process of determining the peak signal values and their concurrence in time whilst calculating the delay, or by measuring the cross-correlation of these signals, was carried out. It was established that the relative error can be minimized via the Z component cross-correlation and Kz criterion cross-correlation methods. The average relative error of vehicle speed determination in the best case did not exceed 1.5% when the distance between sensors was set to 2 m.

  10. 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

  11. Analysis of electric vehicle driver recharging demand profiles and subsequent impacts on the carbon content of electric vehicle trips

    International Nuclear Information System (INIS)

    Robinson, A.P.; Blythe, P.T.; Bell, M.C.; Hübner, Y.; Hill, G.A.

    2013-01-01

    This paper quantifies the recharging behaviour of a sample of electric vehicle (EV) drivers and evaluates the impact of current policy in the north east of England on EV driver recharging demand profiles. An analysis of 31,765 EV trips and 7704 EV recharging events, constituting 23,805 h of recharging, were recorded from in-vehicle loggers as part of the Switch EV trials is presented. Altogether 12 private users, 21 organisation individuals and 32 organisation pool vehicles were tracked over two successive six month trial periods. It was found that recharging profiles varied between the different user types and locations. Private users peak demand was in the evening at home recharging points. Organisation individual vehicles were recharged primarily upon arrival at work. Organisation pool users recharged at work and public recharging points throughout the working day. It is recommended that pay-as-you-go recharging be implemented at all public recharging locations, and smart meters be used to delay recharging at home and work locations until after 23:00 h to reduce peak demand on local power grids and reduce carbon emissions associated with EV recharging. - Highlights: • Study of EV driver recharging habits in the north east of England. • 7704 electric vehicle recharging events, comprising 23,805 h were collected. • There was minimal recharging during off- peak hours. • Free parking and electricity at point of use encouraged daytime recharging. • Need for financial incentives and smart solutions to better manage recharging demand peaks

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

    Science.gov (United States)

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

    2002-03-01

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

  13. Azure Dynamics transit connect : EV2010VE : upfitting to a battery electric vehicle

    Energy Technology Data Exchange (ETDEWEB)

    Oldham, B. [Azure Dynamics Corp., Toronto, ON (Canada)

    2010-07-01

    Transit Connect is a delivery vehicle brought to North America in 2010 that was initially released in Europe as part of Ford's global platform program. The stock layout includes the front engine; front wheel drive; fuel tank in rear; gasoline in North America; and diesel in Europe. This presentation described what Azure Dynamics Corporation did to improve the engine, transmission, energy storage, power steering, air conditioning, and generator. An overview of Transit Connect was provided. The presentation discussed design consideration, with particular reference to crash worthiness; durability; and total cost of implementation. Electrical harness and the total cost of implementation were also addressed. Other topics that were presented included the glider based design; a glider based design commonized platform; and additional design features. tabs., figs.

  14. Evaluation of the lateral dynamics of complex articulated commercial vehicles

    NARCIS (Netherlands)

    Besselink, I.J.M.; Isiklar, G.; Pinxteren, van T.E.L.; Nijmeijer, H.

    2008-01-01

    By increasing the overall length and weight of commercial vehicles, the transport efficiency and road utilization will be improved and the C02 emissions can be reduced by some 30%. Over the past years experiments are carried out in the Netherlands with special vehicle combinations having an overall

  15. 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....

  16. Investigation of the Vehicle Mobility in Fording

    Science.gov (United States)

    2016-05-29

    Conference on Multibody System Dynamics May 29 – June 2, 2016, Montréal, Canada Investigation of the Vehicle Mobility in Fording Arman Pazouki1...strategy outlined has been implemented in Chrono as a dedicated add-on called Chrono::FSI [3]. Figure 1 shows a vehicle model used in a fording simulation...rigid objects. Chrono::FSI has been used for vehicle mobility in fording operations as shown in Figure 2. The computational time per simulation time

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

    Directory of Open Access Journals (Sweden)

    Zhenzhen Lei

    2017-01-01

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

  18. 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%.

  19. Observers for vehicle tyre/road forces estimation: experimental validation

    Science.gov (United States)

    Doumiati, M.; Victorino, A.; Lechner, D.; Baffet, G.; Charara, A.

    2010-11-01

    The motion of a vehicle is governed by the forces generated between the tyres and the road. Knowledge of these vehicle dynamic variables is important for vehicle control systems that aim to enhance vehicle stability and passenger safety. This study introduces a new estimation process for tyre/road forces. It presents many benefits over the existing state-of-art works, within the dynamic estimation framework. One of these major contributions consists of discussing in detail the vertical and lateral tyre forces at each tyre. The proposed method is based on the dynamic response of a vehicle instrumented with potentially integrated sensors. The estimation process is separated into two principal blocks. The role of the first block is to estimate vertical tyre forces, whereas in the second block two observers are proposed and compared for the estimation of lateral tyre/road forces. The different observers are based on a prediction/estimation Kalman filter. The performance of this concept is tested and compared with real experimental data using a laboratory car. Experimental results show that the proposed approach is a promising technique to provide accurate estimation. Thus, it can be considered as a practical low-cost solution for calculating vertical and lateral tyre/road forces.

  20. Aerodynamic Reconstruction Applied to Parachute Test Vehicle Flight Data Analysis

    Science.gov (United States)

    Cassady, Leonard D.; Ray, Eric S.; Truong, Tuan H.

    2013-01-01

    The aerodynamics, both static and dynamic, of a test vehicle are critical to determining the performance of the parachute cluster in a drop test and for conducting a successful test. The Capsule Parachute Assembly System (CPAS) project is conducting tests of NASA's Orion Multi-Purpose Crew Vehicle (MPCV) parachutes at the Army Yuma Proving Ground utilizing the Parachute Test Vehicle (PTV). The PTV shape is based on the MPCV, but the height has been reduced in order to fit within the C-17 aircraft for extraction. Therefore, the aerodynamics of the PTV are similar, but not the same as, the MPCV. A small series of wind tunnel tests and computational fluid dynamics cases were run to modify the MPCV aerodynamic database for the PTV, but aerodynamic reconstruction of the flights has proven an effective source for further improvements to the database. The acceleration and rotational rates measured during free flight, before parachute inflation but during deployment, were used to con rm vehicle static aerodynamics. A multibody simulation is utilized to reconstruct the parachute portions of the flight. Aerodynamic or parachute parameters are adjusted in the simulation until the prediction reasonably matches the flight trajectory. Knowledge of the static aerodynamics is critical in the CPAS project because the parachute riser load measurements are scaled based on forebody drag. PTV dynamic damping is critical because the vehicle has no reaction control system to maintain attitude - the vehicle dynamics must be understood and modeled correctly before flight. It will be shown here that aerodynamic reconstruction has successfully contributed to the CPAS project.

  1. 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.

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

    Directory of Open Access Journals (Sweden)

    Jiahui Liu

    2017-02-01

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

  3. Trajectory of a road vehicle during road maintenance

    OpenAIRE

    Stachová Darina

    2017-01-01

    Consider a vehicle moving on a road whose usage over time creates an uneven surface on the road. Road unevenness that we encounter on surface communications often arises as a consequence of dynamical effects of moving vehicles, of weather changes, and due to road construction works. This article concerns with mathematical modeling of the trajectory of a road vehicle moving on such a surface during the course of road maintenance.

  4. 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....

  5. Neural Dynamic Trajectory Design for Reentry Vehicles (Preprint)

    National Research Council Canada - National Science Library

    Verma, Ajay; Xu, Peng; Vadakkeveedu, Kalyan; Mayer, Rick

    2007-01-01

    The next generation of reentry vehicles is envisioned to have onboard autonomous capability of real-time trajectory planning to provide capability of responsive launch and delivering payload anywhere...

  6. 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.

  7. 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.

  8. Aeroelastic Ground Wind Loads Analysis Tool for Launch Vehicles

    Science.gov (United States)

    Ivanco, Thomas G.

    2016-01-01

    Launch vehicles are exposed to ground winds during rollout and on the launch pad that can induce static and dynamic loads. Of particular concern are the dynamic loads caused by vortex shedding from nearly-cylindrical structures. When the frequency of vortex shedding nears that of a lowly-damped structural mode, the dynamic loads can be more than an order of magnitude greater than mean drag loads. Accurately predicting vehicle response to vortex shedding during the design and analysis cycles is difficult and typically exceeds the practical capabilities of modern computational fluid dynamics codes. Therefore, mitigating the ground wind loads risk typically requires wind-tunnel tests of dynamically-scaled models that are time consuming and expensive to conduct. In recent years, NASA has developed a ground wind loads analysis tool for launch vehicles to fill this analytical capability gap in order to provide predictions for prelaunch static and dynamic loads. This paper includes a background of the ground wind loads problem and the current state-of-the-art. It then discusses the history and significance of the analysis tool and the methodology used to develop it. Finally, results of the analysis tool are compared to wind-tunnel and full-scale data of various geometries and Reynolds numbers.

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

    OpenAIRE

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

    2001-01-01

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

  10. Real-Time and High-Fidelity Simulation Environment for Autonomous Ground Vehicle Dynamics

    Science.gov (United States)

    Cameron, Jonathan; Myint, Steven; Kuo, Calvin; Jain, Abhi; Grip, Havard; Jayakumar, Paramsothy; Overholt, Jim

    2013-01-01

    This paper reports on a collaborative project between U.S. Army TARDEC and Jet Propulsion Laboratory (JPL) to develop a unmanned ground vehicle (UGV) simulation model using the ROAMS vehicle modeling framework. Besides modeling the physical suspension of the vehicle, the sensing and navigation of the HMMWV vehicle are simulated. Using models of urban and off-road environments, the HMMWV simulation was tested in several ways, including navigation in an urban environment with obstacle avoidance and the performance of a lane change maneuver.

  11. Experimental verification of a thermal equivalent circuit dynamic model on an extended range electric vehicle battery pack

    Science.gov (United States)

    Ramotar, Lokendra; Rohrauer, Greg L.; Filion, Ryan; MacDonald, Kathryn

    2017-03-01

    The development of a dynamic thermal battery model for hybrid and electric vehicles is realized. A thermal equivalent circuit model is created which aims to capture and understand the heat propagation from the cells through the entire pack and to the environment using a production vehicle battery pack for model validation. The inclusion of production hardware and the liquid battery thermal management system components into the model considers physical and geometric properties to calculate thermal resistances of components (conduction, convection and radiation) along with their associated heat capacity. Various heat sources/sinks comprise the remaining model elements. Analog equivalent circuit simulations using PSpice are compared to experimental results to validate internal temperature nodes and heat rates measured through various elements, which are then employed to refine the model further. Agreement with experimental results indicates the proposed method allows for a comprehensive real-time battery pack analysis at little computational expense when compared to other types of computer based simulations. Elevated road and ambient conditions in Mesa, Arizona are simulated on a parked vehicle with varying quiescent cooling rates to examine the effect on the diurnal battery temperature for longer term static exposure. A typical daily driving schedule is also simulated and examined.

  12. Pioneering driverless electric vehicles in Europe: the City Automated Transport System (CATS)

    OpenAIRE

    Christie , Derek; Koymans , Anne; Chanard , Thierry; Lasgouttes , Jean-Marc; Kaufmann , Vincent

    2016-01-01

    International audience; The City Automated Transport System (CATS) was a collaborative FP7 European project that lasted from 2010 to 2014. Its objective was to evaluate the feasibility and acceptability of driverless electric vehicles in European cities. This contribution explains how the project was implemented by 11 teams in five countries, culminating with practical trials of driverless vehicles in Strasbourg, France; Ploiesti, Romania; and Lausanne, Switzerland. The Navya vehicles used we...

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

    Science.gov (United States)

    Nogar, Stephen Michael

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

  14. Investigation of Unsteady Pressure-Sensitive Paint (uPSP) and a Dynamic Loads Balance to Predict Launch Vehicle Buffet Environments

    Science.gov (United States)

    Schuster, David M.; Panda, Jayanta; Ross, James C.; Roozeboom, Nettie H.; Burnside, Nathan J.; Ngo, Christina L.; Kumagai, Hiro; Sellers, Marvin; Powell, Jessica M.; Sekula, Martin K.; hide

    2016-01-01

    This NESC assessment examined the accuracy of estimating buffet loads on in-line launch vehicles without booster attachments using sparse unsteady pressure measurements. The buffet loads computed using sparse sensor data were compared with estimates derived using measurements with much higher spatial resolution. The current method for estimating launch vehicle buffet loads is through wind tunnel testing of models with approximately 400 unsteady pressure transducers. Even with this relatively large number of sensors, the coverage can be insufficient to provide reliable integrated unsteady loads on vehicles. In general, sparse sensor spacing requires the use of coherence-length-based corrections in the azimuthal and axial directions to integrate the unsteady pressures and obtain reasonable estimates of the buffet loads. Coherence corrections have been used to estimate buffet loads for a variety of launch vehicles with the assumption methodology results in reasonably conservative loads. For the Space Launch System (SLS), the first estimates of buffet loads exceeded the limits of the vehicle structure, so additional tests with higher sensor density were conducted to better define the buffet loads and possibly avoid expensive modifications to the vehicle design. Without the additional tests and improvements to the coherence-length analysis methods, there would have been significant impacts to the vehicle weight, cost, and schedule. If the load estimates turn out to be too low, there is significant risk of structural failure of the vehicle. This assessment used a combination of unsteady pressure-sensitive paint (uPSP), unsteady pressure transducers, and a dynamic force and moment balance to investigate the integration schemes used with limited unsteady pressure data by comparing them with direct integration of extremely dense fluctuating pressure measurements. An outfall of the assessment was to evaluate the potential of using the emerging uPSP technique in a production

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

    Directory of Open Access Journals (Sweden)

    Val. V. Zelencov

    2015-01-01

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

  16. Acoustic inversion with self noise of an autonomous underwater vehicle to measure sound speed in marine sediments

    NARCIS (Netherlands)

    van Leijen, A.V.; Rothkranz, L.J.M.; Groen, F.C.A.

    2009-01-01

    This work reports on an experiment from the Maritime Rapid Environmental Assessment sea trials in 2007, where autonomous underwater vehicles were deployed for environmental assessment. Even though these underwater vehicles are very quiet platforms, this work investigates the potential of vehicle

  17. 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

  18. Piecewise affine control for fast unmanned ground vehicles

    OpenAIRE

    Benine Neto , André; Grand , Christophe

    2012-01-01

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

  19. 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.

  20. Advising on human factors for field trials with (partially) self-driving vehicles.

    NARCIS (Netherlands)

    Craen, S. de Boele, M.J. Duivenvoorden, C.W.A.E. & Hoekstra, A.T.G.

    2016-01-01

    Vehicles are increasingly equipped with systems that take over (elements of) the driving task. Eventually, this is expected to result in fully self-driving vehicles. The human role will shift from driver to supervisor, and ultimately to passenger. These systems are assumed to reduce the risk of

  1. Fusion of cooperative localization data with dynamic object information using data communication for preventative vehicle safety applications

    Science.gov (United States)

    Kloeden, H.; Schwarz, D.; Rasshofer, R. H.; Biebl, E. M.

    2013-07-01

    Cooperative sensors allow for reliable detection, classification and localization of objects in the vehicle's surroundings - even without a line-of-sight contact to the object. The sensor principle is based on a communication signal between the vehicle and a transponder attached to the object of interest - a pedestrian, for example. Thereby, localization information is gathered by measuring the round-trip time-of-flight (RTOF) and evaluating the angle-of-arrival (AOA) of the incident signal. After that, tracking algorithms are used to recover the kinematic state of the object providing a basis for situation assessment. This paper investigates possibilities and benefits of extending this principle by the communication of information from inertial sensors which are locally attached to the transponder. Furthermore, this paper presents a robust approach for fusing the localization data with dynamic object information using the Dempster-Shafer theory. The approach is evaluated by performing real-world experiments for the analysis of pedestrian accidents.

  2. Energy-optimal motion planning for multiple robotic vehicles with collision avoidance

    NARCIS (Netherlands)

    Häusler, A.J.; Saccon, A.; Aguiar, A.P.; Hauser, J.; Pascoal, A.M.

    2016-01-01

    We propose a numerical algorithm for multiple-vehicle motion planning that explicitly takes into account the vehicle dynamics, temporal and spatial specifications, and energy-related requirements. As a motivating example, we consider the case where a group of vehicles is tasked to reach a number of

  3. Vibration test of 1/5 scale H-II launch vehicle

    Science.gov (United States)

    Morino, Yoshiki; Komatsu, Keiji; Sano, Masaaki; Minegishi, Masakatsu; Morita, Toshiyuki; Kohsetsu, Y.

    In order to predict dynamic loads on the newly designed Japanese H-II launch vehicle, the adequacy of prediction methods has been assessed by the dynamic scale model testing. The three-dimensional dynamic model was used in the analysis to express coupling effects among axial, lateral (pitch and yaw) and torsional vibrations. The liquid/tank interaction was considered by use of a boundary element method. The 1/5 scale model of the H-II launch vehicle was designed to simulate stiffness and mass properties of important structural parts, such as core/SRB junctions, first and second stage Lox tanks and engine mount structures. Modal excitation of the test vehicle was accomplished with 100-1000 N shakers which produced random or sinusoidal vibrational forces. The vibrational response of the test vehicle was measured at various locations with accelerometers and pressure sensor. In the lower frequency range, corresmpondence between analysis and experiment was generally good. The basic procedures in analysis seem to be adequate so far, but some improvements in mathematical modeling are suggested by comparison of test and analysis.

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

    Directory of Open Access Journals (Sweden)

    Zhenhua Yan

    2015-01-01

    Full Text Available 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 could achieve real zero stiffness through well-matched parameters, and precompression of the main spring could change the nonlinear seat suspension performance when a driver’s weight changes. The displacement transmissibility curve corresponds with the static characteristic curve of nonlinear suspension, where the middle part of the static characteristic curve is gentler and the resonance frequency of the displacement transmissibility curve and the isolation minimum frequency are lower. Damping should correspond with static characteristics, in which the corresponding suspension damping value should be smaller given a flatter static characteristic curve to prevent vibration isolation performance reduction.

  5. Realistic control considerations for electromagnetically levitated urban transit vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Billing, J R

    1976-04-01

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

  6. The Theseus Autonomous Underwater Vehicle: A Canadian Success Story

    Science.gov (United States)

    1997-04-01

    P502414.PDF [Page: 1 of 9] P502414.PDF [Page: 2 of 9] P502414.PDF [Page: 3 of 9] The Theseus Autonomous Underwater Vehicle A Canadian Success Story...autonomous underwater vehicle, named Theseus , for laying optical fiber cables in ice- covered waters. In trials and missions conducted in 1996, this...stations. An acoustic telemetry system enables communication with Theseus from surface stations, and an optical telemetry system is used for system

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

    International Nuclear Information System (INIS)

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

    2014-01-01

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

  8. Heavy vehicle simulator testing of trial sections for CALTRANS.

    CSIR Research Space (South Africa)

    Rust, FC

    1993-10-01

    Full Text Available ) commissioned the University of California at Berkely (UCB), Dynatest Consulting and the Council for Scientific and Industrial Research (CSIR) in South Africa to conduct a pilot study to evaluate the potential of the South African Heavy Vehicle Simulator (HVS...

  9. OPTIMAL CONTROL FOR ELECTRIC VEHICLE STABILIZATION

    Directory of Open Access Journals (Sweden)

    MARIAN GAICEANU

    2016-01-01

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

  10. Development of the Tri-ATHLETE Lunar Vehicle Prototype

    Science.gov (United States)

    Heverly, Matt; Matthews, Jaret; Frost, Matt; Quin, Chris

    2010-01-01

    The Tri-ATHLETE (All Terrain Hex Limed Extra Terrestrial Explorer) vehicle is the second generation of a wheel-on-limb vehicle being developed to support the return of humans to the lunar surface. This paper describes the design, assembly, and test of the Tri-ATHLETE robotic system with a specific emphasis on the limb joint actuators. The design and implementation of the structural components is discussed, and a novel and low cost approach to approximating flight-like cabling is also presented. The paper concludes with a discussion of the "second system effect" and other lessons learned as well as results from a three week long field trial of the vehicle in the Arizona desert.

  11. 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...

  12. Modeling and simulation of dust behaviors behind a moving vehicle

    Science.gov (United States)

    Wang, Jingfang

    Simulation of physically realistic complex dust behaviors is a difficult and attractive problem in computer graphics. A fast, interactive and visually convincing model of dust behaviors behind moving vehicles is very useful in computer simulation, training, education, art, advertising, and entertainment. In my dissertation, an experimental interactive system has been implemented for the simulation of dust behaviors behind moving vehicles. The system includes physically-based models, particle systems, rendering engines and graphical user interface (GUI). I have employed several vehicle models including tanks, cars, and jeeps to test and simulate in different scenarios and conditions. Calm weather, winding condition, vehicle turning left or right, and vehicle simulation controlled by users from the GUI are all included. I have also tested the factors which play against the physical behaviors and graphics appearances of the dust particles through GUI or off-line scripts. The simulations are done on a Silicon Graphics Octane station. The animation of dust behaviors is achieved by physically-based modeling and simulation. The flow around a moving vehicle is modeled using computational fluid dynamics (CFD) techniques. I implement a primitive variable and pressure-correction approach to solve the three dimensional incompressible Navier Stokes equations in a volume covering the moving vehicle. An alternating- direction implicit (ADI) method is used for the solution of the momentum equations, with a successive-over- relaxation (SOR) method for the solution of the Poisson pressure equation. Boundary conditions are defined and simplified according to their dynamic properties. The dust particle dynamics is modeled using particle systems, statistics, and procedure modeling techniques. Graphics and real-time simulation techniques, such as dynamics synchronization, motion blur, blending, and clipping have been employed in the rendering to achieve realistic appearing dust

  13. Heavy Vehicles on Minor Highway Bridges

    DEFF Research Database (Denmark)

    Kirkegaard, Poul Henning; Nielsen, Søren R. K.; Enevoldsen, I.

    of heavier trucks moving at larger speeds, and partly because the authorities want to permit transportation of special heavy goods at a larger part of the road net. These needs will in many cases cause the strengthening of the bridges becomes necessary. In order to keep the expenses of such strengthening...... the results obtained using the numerical models given in details in "Heavy Vehicles on Minor Highway Bridges : dynamic modelling of vehicles and bridges". The models are established using a ordinary vehicle which consists of a 48 t Scania with a 3 axle tractor and a 3 axle trailer, joined in a flexible hinge...

  14. 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.

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

    Science.gov (United States)

    Vick, Tyler Joseph

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

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

    Directory of Open Access Journals (Sweden)

    Shouzhao Sheng

    2015-09-01

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

  17. Optimal Charge control of Electric Vehicles in Electricity Markets

    DEFF Research Database (Denmark)

    Lan, Tian; Hu, Junjie; Wu, Guang

    2011-01-01

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

  18. 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

  19. 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.

  20. Optimal design of a vehicle magnetorheological damper considering the damping force and dynamic range

    International Nuclear Information System (INIS)

    Nguyen, Quoc-Hung; Choi, Seung-Bok

    2009-01-01

    This paper presents an optimal design of a passenger vehicle magnetorheological (MR) damper based on finite element analysis. The MR damper is constrained in a specific volume and the optimization problem identifies the geometric dimensions of the damper that minimize an objective function. The objective function consists of the damping force, the dynamic range, and the inductive time constant of the damper. After describing the configuration of the MR damper, the damping force and dynamic range are obtained on the basis of the Bingham model of an MR fluid. Then, the control energy (power consumption of the damper coil) and the inductive time constant are derived. The objective function for the optimization problem is determined based on the solution of the magnetic circuit of the initial damper. Subsequently, the optimization procedure, using a golden-section algorithm and a local quadratic fitting technique, is constructed via commercial finite element method parametric design language. Using the developed optimization tool, optimal solutions of the MR damper, which are constrained in a specific cylindrical volume defined by its radius and height, are determined and a comparative work on damping force and inductive time constant between the initial and optimal design is undertaken

  1. 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

  2. Torque vectoring for improving stability of small electric vehicles

    Science.gov (United States)

    Grzegożek, W.; Weigel-Milleret, K.

    2016-09-01

    The electric vehicles solutions based on the individually controlled electric motors propel a single wheel allow to improve the dynamic properties of the vehicle by varying the distribution of the driving torque. Most of the literature refer to the vehicles with a track typical for passenger cars. This paper examines whether the narrow vehicle (with a very small track) torque vectoring bring a noticeable change of the understeer characteristics and whether torque vectoring is possible to use in securing a narrow vehicle from roll over (roll mitigation). The paper contains road tests of the steering characteristics (steady state understeer characteristic quasi-static acceleration with a fixed steering wheel (SH = const) and on the constant radius track (R = const)) of the narrow vehicle. The vehicle understeer characteristic as a function of a power distribution is presented.

  3. Measurement of vehicle-load using capacitance and acceleration transducers

    International Nuclear Information System (INIS)

    Yang, S; Yang, W; Yang, Y

    2007-01-01

    Over-loading is a common problem in some developing countries. Currently, large and fixed measurement systems are used to measure the load of vehicles travelling on highways. This paper presents an on-vehicle measuring device, which is based on measurement of change in capacitance due to variation in distance between electrodes mounted on vehicles. The on-vehicle leaf springs are used as a key part of the weighing transducer. Acceleration transducers are used to measure the vehicle's forward and the vertical accelerations. A feature of this on-vehicle measuring device is that it can provide both static and dynamic load measurements. The drivers can check the load in the cab, and the highway inspectors can check the load at any time and any place through radio communication, thus identifying over-loaded vehicles

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2012-11-01

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

  5. Optimal control of hybrid vehicles

    CERN Document Server

    Jager, Bram; Kessels, John

    2013-01-01

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

  6. Expendable launch vehicle studies

    Science.gov (United States)

    Bainum, Peter M.; Reiss, Robert

    1995-01-01

    Analytical support studies of expendable launch vehicles concentrate on the stability of the dynamics during launch especially during or near the region of maximum dynamic pressure. The in-plane dynamic equations of a generic launch vehicle with multiple flexible bending and fuel sloshing modes are developed and linearized. The information from LeRC about the grids, masses, and modes is incorporated into the model. The eigenvalues of the plant are analyzed for several modeling factors: utilizing diagonal mass matrix, uniform beam assumption, inclusion of aerodynamics, and the interaction between the aerodynamics and the flexible bending motion. Preliminary PID, LQR, and LQG control designs with sensor and actuator dynamics for this system and simulations are also conducted. The initial analysis for comparison of PD (proportional-derivative) and full state feedback LQR Linear quadratic regulator) shows that the split weighted LQR controller has better performance than that of the PD. In order to meet both the performance and robustness requirements, the H(sub infinity) robust controller for the expendable launch vehicle is developed. The simulation indicates that both the performance and robustness of the H(sub infinity) controller are better than that for the PID and LQG controllers. The modelling and analysis support studies team has continued development of methodology, using eigensensitivity analysis, to solve three classes of discrete eigenvalue equations. In the first class, the matrix elements are non-linear functions of the eigenvector. All non-linear periodic motion can be cast in this form. Here the eigenvector is comprised of the coefficients of complete basis functions spanning the response space and the eigenvalue is the frequency. The second class of eigenvalue problems studied is the quadratic eigenvalue problem. Solutions for linear viscously damped structures or viscoelastic structures can be reduced to this form. Particular attention is paid to

  7. A passive method to stabilize an airborne vehicle

    Directory of Open Access Journals (Sweden)

    Timo Sailaranta

    2014-06-01

    Full Text Available A method of augmenting an airborne vehicle for short-period dynamics and stability by passive means is presented in this study. A trajectory-phase disturbance rejection capability is achieved for an unguided fin-stabilized vehicle by flexible mounting of the fins to the vehicle body. The deflecting fins lag the body oscillation such that the harmonic oscillation can be quickly dampened. The amount of fin deflection may be chosen by a hinge-line location; among other things, the vehicle damping behaviour is largely determined by this choice. Linear theory is applied and 6-DOF simulations are carried out to demonstrate the approach suitability for the task.

  8. Multi-Mission Earth Vehicle Subsonic Dynamic Stability Testing and Analyses

    Science.gov (United States)

    Glaab, Louis J.; Fremaux, C. Michael

    2013-01-01

    Multi-Mission Earth Entry Vehicles (MMEEVs) are blunt-body vehicles designed with the purpose of transporting payloads from outer space to the surface of the Earth. To achieve high-reliability and minimum weight, MMEEVs avoid use of limited-reliability systems, such as parachutes, retro-rockets, and reaction control systems and rely on the natural aerodynamic stability of the vehicle throughout the Entry, Descent, and Landing (EDL) phase of flight. The Multi-Mission Systems Analysis for Planetary Entry (M-SAPE) parametric design tool is used to facilitate the design of MMEEVs for an array of missions and develop and visualize the trade space. Testing in NASA Langley?s Vertical Spin Tunnel (VST) was conducted to significantly improve M-SAPE?s subsonic aerodynamic models. Vehicle size and shape can be driven by entry flight path angle and speed, thermal protection system performance, terminal velocity limitations, payload mass and density, among other design parameters. The objectives of the VST testing were to define usable subsonic center of gravity limits, and aerodynamic parameters for 6-degree-of-freedom (6-DOF) simulations, for a range of MMEEV designs. The range of MMEEVs tested was from 1.8m down to 1.2m diameter. A backshell extender provided the ability to test a design with a much larger payload for the 1.2m MMEEV.

  9. Prevention and Reduction of Atrophic Acne Scars with Adapalene 0.3%/Benzoyl Peroxide 2.5% Gel in Subjects with Moderate or Severe Facial Acne: Results of a 6-Month Randomized, Vehicle-Controlled Trial Using Intra-Individual Comparison.

    Science.gov (United States)

    Dréno, Brigitte; Bissonnette, Robert; Gagné-Henley, Angélique; Barankin, Benjamin; Lynde, Charles; Kerrouche, Nabil; Tan, Jerry

    2018-04-01

    Very few clinical trials have investigated the effect of topical acne treatment on scarring. Our objective was to evaluate the efficacy of adapalene 0.3%/benzoyl peroxide 2.5% gel (A0.3/BPO2.5) in atrophic acne scar formation in patients with acne. In this multicenter, randomized, investigator-blinded, vehicle-controlled study, subjects with moderate or severe facial acne (Investigator's Global Assessment [IGA] score 3 or 4; ≥ 25 inflammatory lesions; ten or more atrophic acne scars) applied A0.3/BPO2.5 or vehicle daily per half face for 24 weeks. Subjects with acne requiring systemic treatment were excluded. Assessments included investigator atrophic acne scar count, Scar Global Assessment (SGA), acne lesion count, IGA, skin roughness and skin texture, subject self-assessment of clinical acne-related scars and satisfaction questionnaire, tolerability, and safety. Included subjects (n = 67) had mainly moderate acne (92.5% IGA 3); mean scores at baseline were approximately 40 acne lesions and 12 scars per half face. By week 24, the change from baseline in total scar count was - 15.5% for A0.3/BPO2.5 versus  + 14.4% for vehicle (approximately 30% difference), with a mean of 9.5 scars versus 13.3 per half face, respectively (p vehicle (p vehicle (p vehicle side, most commonly skin irritation (14.9 vs. 6%, respectively). Topical A0.3/BPO2.5 prevented and reduced atrophic scar formation. Scar count increased with vehicle (+ 14.4%) but decreased with A0.3/BPO2.5 (- 15.5%) over 24 weeks. ClinicalTrials.gov identifier NCT02735421.

  10. A Generic Architecture for Autonomous Uninhabited Vehicles

    National Research Council Canada - National Science Library

    Barbier, Magali; Gabard, Jean-Francois; Ayreault, Herve

    2007-01-01

    ...; few solutions propose architecture adaptive to several types of platform. Autonomous vehicles that move in partially known and dynamic environments have to deal with asynchronous disruptive events...

  11. Evaluation of connected vehicle impact on mobility and mode choice

    Directory of Open Access Journals (Sweden)

    Simon Minelli

    2015-10-01

    Full Text Available Connected vehicle is emerging as a solution to exacerbating congestion problems in urban areas. It is important to understand the impacts of connected vehicle on network and travel behavior of road users. The main objective of this paper is to evaluate the impact of connected vehicle on the mode choice and mobility of transportation networks. An iterative methodology was used in this paper where demands for various modes were modified based on the changes in travel time between each origin-destination (OD pair caused by introduction of connected vehicle. Then a traffic assignment was performed in a micro-simulation model, which was able to accurately simulate vehicle-to-vehicle communication. It is assumed that vehicles are equipped with a dynamic route guidance technology to choose their own route using real-time traffic information obtained through communication. The travel times obtained from the micro-simulation model were compared with a base scenario with no connected vehicle. The methodology was tested for a portion of Downtown Toronto, Ontario, Canada. In order to quantify changes in mode share with changes in travel time associated with each OD pair, mode choice models were developed for auto, transit, cycling and pedestrians using data mainly from the Transportation Tomorrow Survey. The impact of connected vehicle on mode choice was evaluated for different market penetrations of connected vehicle. The results of this study show that average travel times for the whole auto mode will generally increase, with the largest increase from connected vehicles. This causes an overall move away from the auto mode for high market penetrations if a dynamic route guidance algorithm is implemented.

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

    NARCIS (Netherlands)

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

    1998-01-01

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

  13. Using simulation to aid trial design: Ring-vaccination trials.

    Directory of Open Access Journals (Sweden)

    Matt David Thomas Hitchings

    2017-03-01

    Full Text Available The 2014-6 West African Ebola epidemic highlights the need for rigorous, rapid clinical trial methods for vaccines. A challenge for trial design is making sample size calculations based on incidence within the trial, total vaccine effect, and intracluster correlation, when these parameters are uncertain in the presence of indirect effects of vaccination.We present a stochastic, compartmental model for a ring vaccination trial. After identification of an index case, a ring of contacts is recruited and either vaccinated immediately or after 21 days. The primary outcome of the trial is total vaccine effect, counting cases only from a pre-specified window in which the immediate arm is assumed to be fully protected and the delayed arm is not protected. Simulation results are used to calculate necessary sample size and estimated vaccine effect. Under baseline assumptions about vaccine properties, monthly incidence in unvaccinated rings and trial design, a standard sample-size calculation neglecting dynamic effects estimated that 7,100 participants would be needed to achieve 80% power to detect a difference in attack rate between arms, while incorporating dynamic considerations in the model increased the estimate to 8,900. This approach replaces assumptions about parameters at the ring level with assumptions about disease dynamics and vaccine characteristics at the individual level, so within this framework we were able to describe the sensitivity of the trial power and estimated effect to various parameters. We found that both of these quantities are sensitive to properties of the vaccine, to setting-specific parameters over which investigators have little control, and to parameters that are determined by the study design.Incorporating simulation into the trial design process can improve robustness of sample size calculations. For this specific trial design, vaccine effectiveness depends on properties of the ring vaccination design and on the

  14. Will Automated Vehicles Negatively Impact Traffic Flow?

    Directory of Open Access Journals (Sweden)

    S. C. Calvert

    2017-01-01

    Full Text Available With low-level vehicle automation already available, there is a necessity to estimate its effects on traffic flow, especially if these could be negative. A long gradual transition will occur from manual driving to automated driving, in which many yet unknown traffic flow dynamics will be present. These effects have the potential to increasingly aid or cripple current road networks. In this contribution, we investigate these effects using an empirically calibrated and validated simulation experiment, backed up with findings from literature. We found that low-level automated vehicles in mixed traffic will initially have a small negative effect on traffic flow and road capacities. The experiment further showed that any improvement in traffic flow will only be seen at penetration rates above 70%. Also, the capacity drop appeared to be slightly higher with the presence of low-level automated vehicles. The experiment further investigated the effect of bottleneck severity and truck shares on traffic flow. Improvements to current traffic models are recommended and should include a greater detail and understanding of driver-vehicle interaction, both in conventional and in mixed traffic flow. Further research into behavioural shifts in driving is also recommended due to limited data and knowledge of these dynamics.

  15. The present status of the high temperature superconducting Maglev vehicle in China

    International Nuclear Information System (INIS)

    Wang, J S; Wang, S Y; Zeng, Y W; Deng, C Y; Ren, Z Y; Wang, X R; Song, H H; Wang, X Z; Zheng, J; Zhao, Y

    2005-01-01

    Since the first successful running of the people-carrying high temperature superconducting (HTS) Maglev test vehicle on 31 December 2000, about 27,000 people have taken it, and the accumulated running distance is about 400 km. The levitation force of the onboard HTS equipment is measured periodically, and new experimental results measured on 5 March 2003 show that the performance of the onboard HTS Maglev equipment is almost the same as that of two years ago. Experimental results indicate that the long-term stability of the HTS Maglev vehicle is good. This further proves the feasibility of the HTS Maglev vehicle for practical transportation. It is worth mentioning that all the results are measured at a low speed; however, investigations of the dynamic performance of the HTS Maglev vehicle at high speed are necessary for practical application. Research on the dynamic performance of the HTS Maglev vehicle is ongoing

  16. The present status of the high temperature superconducting Maglev vehicle in China

    Energy Technology Data Exchange (ETDEWEB)

    Wang, J S; Wang, S Y; Zeng, Y W; Deng, C Y; Ren, Z Y; Wang, X R; Song, H H; Wang, X Z; Zheng, J; Zhao, Y [Superconductivity R and D Center, Mail Stop: 152, Southwest Jiaotong University, Chengdu 610031, Sichuan (China)

    2005-02-01

    Since the first successful running of the people-carrying high temperature superconducting (HTS) Maglev test vehicle on 31 December 2000, about 27,000 people have taken it, and the accumulated running distance is about 400 km. The levitation force of the onboard HTS equipment is measured periodically, and new experimental results measured on 5 March 2003 show that the performance of the onboard HTS Maglev equipment is almost the same as that of two years ago. Experimental results indicate that the long-term stability of the HTS Maglev vehicle is good. This further proves the feasibility of the HTS Maglev vehicle for practical transportation. It is worth mentioning that all the results are measured at a low speed; however, investigations of the dynamic performance of the HTS Maglev vehicle at high speed are necessary for practical application. Research on the dynamic performance of the HTS Maglev vehicle is ongoing.

  17. Research on Automotive Dynamic Weighing Method Based on Piezoelectric Sensor

    Directory of Open Access Journals (Sweden)

    Zhang Wei

    2017-01-01

    Full Text Available In order to effectively measure the dynamic axle load of vehicles in motion, the dynamic weighing method of vehicles based on piezoelectric sensor was studied. Firstly, the influencing factors of the measurement accuracy in the dynamic weighing process were analyzed systematically, and the impacts of road irregularities and dynamic weighing system vibration on measurement error were discussed. On the basis of the analysis, the arithmetic mean filter method was used in the software algorithm to filter out the periodic interference added in the sensor signal, the most suitable n value was selected to get the better filtering result by simulation comparison. Then, the dynamic axle load calculation model of high speed vehicles was studied deeply, based on the theoretical response curve of the sensor, the dynamic axle load calculation method based on frequency reconstruction was established according to actual measurement signals of sensors and the analysis from time domain and frequency domain, also the least square method was used to realize the identification of temperature correction coefficient. A large amount of data that covered the usual vehicle weighing range was collected by experiment. The results show that the dynamic weighing signal system identification error all controlled within 10% at the same temperature and 60% of the vehicle data error can be controlled within 7%. The temperature correction coefficient and the correction formula at different temperatures ranges are well adapted to ensure that the vehicle temperature error at different temperatures can also be controlled within 10% and 70% of the vehicle data error within 7%. Furthermore, the weighing results remain stable regardless of the speed of the vehicle which meets the requirements for high-speed dynamic weighing.

  18. Vehicle Reference Generator for Collision-Free Trajectories in Hazardous Maneuvers

    Directory of Open Access Journals (Sweden)

    Cuauhtémoc Acosta Lúa

    2018-01-01

    Full Text Available This paper presents a reference generator for ground vehicles, based on potential fields adapted to the case of vehicular dynamics. The reference generator generates signals to be tracked by the vehicle, corresponding to a trajectory avoiding collisions with obstacles. This generator integrates artificial forces of potential fields of the object surrounding the vehicle. The reference generator is used with a controller to ensure the tracking of the accident-free reference. This approach can be used for vehicle autonomous driving or for active control of manned vehicles. Simulation results, presented for the autonomous driving, consider a scenario inspired by the so-called moose (or elk test, with the presence of other collaborative vehicles.

  19. The Study of Intelligent Vehicle Navigation Path Based on Behavior Coordination of Particle Swarm.

    Science.gov (United States)

    Han, Gaining; Fu, Weiping; Wang, Wen

    2016-01-01

    In the behavior dynamics model, behavior competition leads to the shock problem of the intelligent vehicle navigation path, because of the simultaneous occurrence of the time-variant target behavior and obstacle avoidance behavior. Considering the safety and real-time of intelligent vehicle, the particle swarm optimization (PSO) algorithm is proposed to solve these problems for the optimization of weight coefficients of the heading angle and the path velocity. Firstly, according to the behavior dynamics model, the fitness function is defined concerning the intelligent vehicle driving characteristics, the distance between intelligent vehicle and obstacle, and distance of intelligent vehicle and target. Secondly, behavior coordination parameters that minimize the fitness function are obtained by particle swarm optimization algorithms. Finally, the simulation results show that the optimization method and its fitness function can improve the perturbations of the vehicle planning path and real-time and reliability.

  20. Examining accident reports involving autonomous vehicles in California.

    Directory of Open Access Journals (Sweden)

    Francesca M Favarò

    Full Text Available Autonomous Vehicle technology is quickly expanding its market and has found in Silicon Valley, California, a strong foothold for preliminary testing on public roads. In an effort to promote safety and transparency to consumers, the California Department of Motor Vehicles has mandated that reports of accidents involving autonomous vehicles be drafted and made available to the public. The present work shows an in-depth analysis of the accident reports filed by different manufacturers that are testing autonomous vehicles in California (testing data from September 2014 to March 2017. The data provides important information on autonomous vehicles accidents' dynamics, related to the most frequent types of collisions and impacts, accident frequencies, and other contributing factors. The study also explores important implications related to future testing and validation of semi-autonomous vehicles, tracing the investigation back to current literature as well as to the current regulatory panorama.

  1. Examining accident reports involving autonomous vehicles in California.

    Science.gov (United States)

    Favarò, Francesca M; Nader, Nazanin; Eurich, Sky O; Tripp, Michelle; Varadaraju, Naresh

    2017-01-01

    Autonomous Vehicle technology is quickly expanding its market and has found in Silicon Valley, California, a strong foothold for preliminary testing on public roads. In an effort to promote safety and transparency to consumers, the California Department of Motor Vehicles has mandated that reports of accidents involving autonomous vehicles be drafted and made available to the public. The present work shows an in-depth analysis of the accident reports filed by different manufacturers that are testing autonomous vehicles in California (testing data from September 2014 to March 2017). The data provides important information on autonomous vehicles accidents' dynamics, related to the most frequent types of collisions and impacts, accident frequencies, and other contributing factors. The study also explores important implications related to future testing and validation of semi-autonomous vehicles, tracing the investigation back to current literature as well as to the current regulatory panorama.

  2. Examining accident reports involving autonomous vehicles in California

    Science.gov (United States)

    Nader, Nazanin; Eurich, Sky O.; Tripp, Michelle; Varadaraju, Naresh

    2017-01-01

    Autonomous Vehicle technology is quickly expanding its market and has found in Silicon Valley, California, a strong foothold for preliminary testing on public roads. In an effort to promote safety and transparency to consumers, the California Department of Motor Vehicles has mandated that reports of accidents involving autonomous vehicles be drafted and made available to the public. The present work shows an in-depth analysis of the accident reports filed by different manufacturers that are testing autonomous vehicles in California (testing data from September 2014 to March 2017). The data provides important information on autonomous vehicles accidents’ dynamics, related to the most frequent types of collisions and impacts, accident frequencies, and other contributing factors. The study also explores important implications related to future testing and validation of semi-autonomous vehicles, tracing the investigation back to current literature as well as to the current regulatory panorama. PMID:28931022

  3. Dynamic thermal characteristics of heat pipe via segmented thermal resistance model for electric vehicle battery cooling

    Science.gov (United States)

    Liu, Feifei; Lan, Fengchong; Chen, Jiqing

    2016-07-01

    Heat pipe cooling for battery thermal management systems (BTMSs) in electric vehicles (EVs) is growing due to its advantages of high cooling efficiency, compact structure and flexible geometry. Considering the transient conduction, phase change and uncertain thermal conditions in a heat pipe, it is challenging to obtain the dynamic thermal characteristics accurately in such complex heat and mass transfer process. In this paper, a ;segmented; thermal resistance model of a heat pipe is proposed based on thermal circuit method. The equivalent conductivities of different segments, viz. the evaporator and condenser of pipe, are used to determine their own thermal parameters and conditions integrated into the thermal model of battery for a complete three-dimensional (3D) computational fluid dynamics (CFD) simulation. The proposed ;segmented; model shows more precise than the ;non-segmented; model by the comparison of simulated and experimental temperature distribution and variation of an ultra-thin micro heat pipe (UMHP) battery pack, and has less calculation error to obtain dynamic thermal behavior for exact thermal design, management and control of heat pipe BTMSs. Using the ;segmented; model, the cooling effect of the UMHP pack with different natural/forced convection and arrangements is predicted, and the results correspond well to the tests.

  4. Sampling-based real-time motion planning under state uncertainty for autonomous micro-aerial vehicles in GPS-denied environments.

    Science.gov (United States)

    Li, Dachuan; Li, Qing; Cheng, Nong; Song, Jingyan

    2014-11-18

    This paper presents a real-time motion planning approach for autonomous vehicles with complex dynamics and state uncertainty. The approach is motivated by the motion planning problem for autonomous vehicles navigating in GPS-denied dynamic environments, which involves non-linear and/or non-holonomic vehicle dynamics, incomplete state estimates, and constraints imposed by uncertain and cluttered environments. To address the above motion planning problem, we propose an extension of the closed-loop rapid belief trees, the closed-loop random belief trees (CL-RBT), which incorporates predictions of the position estimation uncertainty, using a factored form of the covariance provided by the Kalman filter-based estimator. The proposed motion planner operates by incrementally constructing a tree of dynamically feasible trajectories using the closed-loop prediction, while selecting candidate paths with low uncertainty using efficient covariance update and propagation. The algorithm can operate in real-time, continuously providing the controller with feasible paths for execution, enabling the vehicle to account for dynamic and uncertain environments. Simulation results demonstrate that the proposed approach can generate feasible trajectories that reduce the state estimation uncertainty, while handling complex vehicle dynamics and environment constraints.

  5. Efficient Numerical Simulation of Aerothermoelastic Hypersonic Vehicles

    Science.gov (United States)

    Klock, Ryan J.

    Hypersonic vehicles operate in a high-energy flight environment characterized by high dynamic pressures, high thermal loads, and non-equilibrium flow dynamics. This environment induces strong fluid, thermal, and structural dynamics interactions that are unique to this flight regime. If these vehicles are to be effectively designed and controlled, then a robust and intuitive understanding of each of these disciplines must be developed not only in isolation, but also when coupled. Limitations on scaling and the availability of adequate test facilities mean that physical investigation is infeasible. Ever growing computational power offers the ability to perform elaborate numerical simulations, but also has its own limitations. The state of the art in numerical simulation is either to create ever more high-fidelity physics models that do not couple well and require too much processing power to consider more than a few seconds of flight, or to use low-fidelity analytical models that can be tightly coupled and processed quickly, but do not represent realistic systems due to their simplifying assumptions. Reduced-order models offer a middle ground by distilling the dominant trends of high-fidelity training solutions into a form that can be quickly processed and more tightly coupled. This thesis presents a variably coupled, variable-fidelity, aerothermoelastic framework for the simulation and analysis of high-speed vehicle systems using analytical, reduced-order, and surrogate modeling techniques. Full launch-to-landing flights of complete vehicles are considered and used to define flight envelopes with aeroelastic, aerothermal, and thermoelastic limits, tune in-the-loop flight controllers, and inform future design considerations. A partitioned approach to vehicle simulation is considered in which regions dominated by particular combinations of processes are made separate from the overall solution and simulated by a specialized set of models to improve overall processing

  6. Intelligent Torque Vectoring Approach for Electric Vehicles with Per-Wheel Motors

    Directory of Open Access Journals (Sweden)

    Alberto Parra

    2018-01-01

    Full Text Available Transport electrification is currently a priority for authorities, manufacturers, and research centers around the world. The development of electric vehicles and the improvement of their functionalities are key elements in this strategy. As a result, there is a need for further research in emission reduction, efficiency improvement, or dynamic handling approaches. In order to achieve these objectives, the development of suitable Advanced Driver-Assistance Systems (ADAS is required. Although traditional control techniques have been widely used for ADAS implementation, the complexity of electric multimotor powertrains makes intelligent control approaches appropriate for these cases. In this work, a novel intelligent Torque Vectoring (TV system, composed of a neuro-fuzzy vertical tire forces estimator and a fuzzy yaw moment controller, is proposed, which allows enhancing the dynamic behaviour of electric multimotor vehicles. The proposed approach is compared with traditional strategies using the high fidelity vehicle dynamics simulator Dynacar. Results show that the proposed intelligent Torque Vectoring system is able to increase the efficiency of the vehicle by 10%, thanks to the optimal torque distribution and the use of a neuro-fuzzy vertical tire forces estimator which provides 3 times more accurate estimations than analytical approaches.

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

    Science.gov (United States)

    Yoshida, Kinjiro; Egashira, Tatsuya; Hirai, Ryuichi

    1996-01-01

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

  8. 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.

  9. 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.

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

    Science.gov (United States)

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

    2010-01-01

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

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

    Directory of Open Access Journals (Sweden)

    LIAO Cong

    2014-10-01

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

  12. Advances in Integrated Vehicle Thermal Management and Numerical Simulation

    Directory of Open Access Journals (Sweden)

    Yan Wang

    2017-10-01

    Full Text Available With the increasing demands for vehicle dynamic performance, economy, safety and comfort, and with ever stricter laws concerning energy conservation and emissions, vehicle power systems are becoming much more complex. To pursue high efficiency and light weight in automobile design, the power system and its vehicle integrated thermal management (VITM system have attracted widespread attention as the major components of modern vehicle technology. Regarding the internal combustion engine vehicle (ICEV, its integrated thermal management (ITM mainly contains internal combustion engine (ICE cooling, turbo-charged cooling, exhaust gas recirculation (EGR cooling, lubrication cooling and air conditioning (AC or heat pump (HP. As for electric vehicles (EVs, the ITM mainly includes battery cooling/preheating, electric machines (EM cooling and AC or HP. With the rational effective and comprehensive control over the mentioned dynamic devices and thermal components, the modern VITM can realize collaborative optimization of multiple thermodynamic processes from the aspect of system integration. Furthermore, the computer-aided calculation and numerical simulation have been the significant design methods, especially for complex VITM. The 1D programming can correlate multi-thermal components and the 3D simulating can develop structuralized and modularized design. Additionally, co-simulations can virtualize simulation of various thermo-hydraulic behaviors under the vehicle transient operational conditions. This article reviews relevant researching work and current advances in the ever broadening field of modern vehicle thermal management (VTM. Based on the systematic summaries of the design methods and applications of ITM, future tasks and proposals are presented. This article aims to promote innovation of ITM, strengthen the precise control and the performance predictable ability, furthermore, to enhance the level of research and development (R&D.

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

    Science.gov (United States)

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

    2015-01-01

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

  14. Dynamic origin-to-destination routing of wirelessly connected, autonomous vehicles on a congested network

    Science.gov (United States)

    Davis, L. C.

    2017-07-01

    Up-to-date information wirelessly communicated among vehicles can be used to select the optimal route between a given origin and destination. To elucidate how to make use of such information, simulations are performed for autonomous vehicles traveling on a square lattice of roads. All the possible routes between the origin and the destination (without backtracking) are of the same length. Congestion is the only determinant of delay. At each intersection, right-of-way is given to the closest vehicle. There are no traffic lights. Trip times of a subject vehicle are recorded for various initial conditions using different routing algorithms. Surprisingly, the simplest algorithm, which is based on the total number of vehicles on a route, is as good as one based on computing travel times from the average velocity of vehicles on each road segment.

  15. Imaging vascular function for early stage clinical trials using dynamic contrast-enhanced magnetic resonance imaging

    Energy Technology Data Exchange (ETDEWEB)

    Leach, M.O.; Orton, M. [Institute of Cancer Research and Royal Marsden NHS Foundation Trust, Cancer Research UK and EPSRC Cancer Imaging Centre, Sutton, Surrey (United Kingdom); Morgan, B. [Univ. of Leicester, College of Medicine, Biological Sciences and Psychology, Leicester (United Kingdom); Tofts, P.S. [Brighton and Sussex Medical School, Univ. of Sussex, Clinical Imaging Sciences Centre, Sussex (United Kingdom); Buckley, D.L. [University of Leeds, Division of Medical Physics, Leeds (United Kingdom); Huang, W. [Oregon Health and Science Univ., Advanced Imaging Research Centre, Portland, OR (United States); Horsfield, M.A. [Medical Physics Section, Leicester Royal Infirmary, Dept. of Cardiovascular Sciences, Leicester (United Kingdom); Chenevert, T.L. [Univ. of Michigan Health System, Ann Arbor, MI (United States); Collins, D.J. [Royal Marsden Hospital NHS Foundation Trust, Cancer Research UK and EPSRC Cancer Imaging Centre, Sutton, Surrey (United Kingdom); Jackson, A. [Univ. of Manchester, Wolfson Molecular Imaging Centre, Withington, Manchester, M20 3LJ (United Kingdom); Lomas, D. [Univ. of Cambridge, Dept. of Radiology, Cambridge (United Kingdom); Whitcher, B. [Unit 2 Greenways Business Park, Mango Solutions, Chippenham (United Kingdom); Clarke, L. [Cancer Imaging Program, Imaging Technology Development Branch, Rockville, MD (United States); Plummer, R. [Univ. of Newcastle Upon Tyne, The Medical School, Medical Oncology, Northern Inst. for Cancer Research, Newcastle Upon Tyne (United Kingdom); Judson, I. [Royal Marsden Hospital, Sutton, Surrey (United Kingdom); Jones, R. [Beatson West of Scotland Cancer Centre, Glasgow (United Kingdom); Alonzi, R. [Mount Vernon Cancer Centre, Northwood (United Kingdom); Brunner, T. [Gray Inst. for Radiation, Oncology and Biology, Oxford (United Kingdom); Koh, D.M. [Royal Marsden NHS Foundation Trust, Diagnostic Radiology, Sutton, Surrey (United Kingdom)] [and others

    2012-07-15

    Many therapeutic approaches to cancer affect the tumour vasculature, either indirectly or as a direct target. Dynamic contrast-enhanced magnetic resonance imaging (DCE-MRI) has become an important means of investigating this action, both pre-clinically and in early stage clinical trials. For such trials, it is essential that the measurement process (i.e. image acquisition and analysis) can be performed effectively and with consistency among contributing centres. As the technique continues to develop in order to provide potential improvements in sensitivity and physiological relevance, there is considerable scope for between-centre variation in techniques. A workshop was convened by the Imaging Committee of the Experimental Cancer Medicine Centres (ECMC) to review the current status of DCE-MRI and to provide recommendations on how the technique can best be used for early stage trials. This review and the consequent recommendations are summarised here. (orig.)

  16. Marine Vehicle Sensor Network Architecture and Protocol Designs for Ocean Observation

    Directory of Open Access Journals (Sweden)

    Yeqiang Shu

    2012-01-01

    Full Text Available The micro-scale and meso-scale ocean dynamic processes which are nonlinear and have large variability, have a significant impact on the fisheries, natural resources, and marine climatology. A rapid, refined and sophisticated observation system is therefore needed in marine scientific research. The maneuverability and controllability of mobile sensor platforms make them a preferred choice to establish ocean observing networks, compared to the static sensor observing platform. In this study, marine vehicles are utilized as the nodes of mobile sensor networks for coverage sampling of a regional ocean area and ocean feature tracking. A synoptic analysis about marine vehicle dynamic control, multi vehicles mission assignment and path planning methods, and ocean feature tracking and observing techniques is given. Combined with the observation plan in the South China Sea, we provide an overview of the mobile sensor networks established with marine vehicles, and the corresponding simulation results.

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

    Science.gov (United States)

    Bu, Xiangwei; He, Guangjun; Wang, Ke

    2018-04-01

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

  18. US Army TARDEC Ground Vehicle Mobility: Dynamics Modeling, Simluation, and Research

    Science.gov (United States)

    2011-10-24

    DRIVEN. WARFIGHTER FOCUSED. For official use only Stair Climbing of a Small Robot Robotic Vehicle Step Climbing UNCLASSIFIED For official use only...NOTES NASA Jet Propulsion Laboratory, mobility, and robotics section. Briefing to the jet propulsion lab. 14. ABSTRACT N/A 15. SUBJECT TERMS 16...JLTV GCV M2 M915 ASV FTTS HMMWV Platforms Supported APDSmall Robot UNCLASSIFIED For official use only Mobility Events • Vehicle stability • Ride

  19. Modeling ground vehicle acoustic signatures for analysis and synthesis

    International Nuclear Information System (INIS)

    Haschke, G.; Stanfield, R.

    1995-01-01

    Security and weapon systems use acoustic sensor signals to classify and identify moving ground vehicles. Developing robust signal processing algorithms for this is expensive, particularly in presence of acoustic clutter or countermeasures. This paper proposes a parametric ground vehicle acoustic signature model to aid the system designer in understanding which signature features are important, developing corresponding feature extraction algorithms and generating low-cost, high-fidelity synthetic signatures for testing. The authors have proposed computer-generated acoustic signatures of armored, tracked ground vehicles to deceive acoustic-sensored smart munitions. They have developed quantitative measures of how accurately a synthetic acoustic signature matches those produced by actual vehicles. This paper describes parameters of the model used to generate these synthetic signatures and suggests methods for extracting these parameters from signatures of valid vehicle encounters. The model incorporates wide-bandwidth and narrow- bandwidth components that are modulated in a pseudo-random fashion to mimic the time dynamics of valid vehicle signatures. Narrow- bandwidth feature extraction techniques estimate frequency, amplitude and phase information contained in a single set of narrow frequency- band harmonics. Wide-bandwidth feature extraction techniques estimate parameters of a correlated-noise-floor model. Finally, the authors propose a method of modeling the time dynamics of the harmonic amplitudes as a means adding necessary time-varying features to the narrow-bandwidth signal components. The authors present results of applying this modeling technique to acoustic signatures recorded during encounters with one armored, tracked vehicle. Similar modeling techniques can be applied to security systems

  20. Internal air flow analysis of a bladeless micro aerial vehicle hemisphere body using computational fluid dynamic

    Science.gov (United States)

    Othman, M. N. K.; Zuradzman, M. Razlan; Hazry, D.; Khairunizam, Wan; Shahriman, A. B.; Yaacob, S.; Ahmed, S. Faiz; Hussain, Abadalsalam T.

    2014-12-01

    This paper explain the analysis of internal air flow velocity of a bladeless vertical takeoff and landing (VTOL) Micro Aerial Vehicle (MAV) hemisphere body. In mechanical design, before produce a prototype model, several analyses should be done to ensure the product's effectiveness and efficiency. There are two types of analysis method can be done in mechanical design; mathematical modeling and computational fluid dynamic. In this analysis, I used computational fluid dynamic (CFD) by using SolidWorks Flow Simulation software. The idea came through to overcome the problem of ordinary quadrotor UAV which has larger size due to using four rotors and the propellers are exposed to environment. The bladeless MAV body is designed to protect all electronic parts, which means it can be used in rainy condition. It also has been made to increase the thrust produced by the ducted propeller compare to exposed propeller. From the analysis result, the air flow velocity at the ducted area increased to twice the inlet air. This means that the duct contribute to the increasing of air velocity.

  1. Internal air flow analysis of a bladeless micro aerial vehicle hemisphere body using computational fluid dynamic

    International Nuclear Information System (INIS)

    Othman, M. N. K.; Zuradzman, M. Razlan; Hazry, D.; Khairunizam, Wan; Shahriman, A. B.; Yaacob, S.; Ahmed, S. Faiz

    2014-01-01

    This paper explain the analysis of internal air flow velocity of a bladeless vertical takeoff and landing (VTOL) Micro Aerial Vehicle (MAV) hemisphere body. In mechanical design, before produce a prototype model, several analyses should be done to ensure the product's effectiveness and efficiency. There are two types of analysis method can be done in mechanical design; mathematical modeling and computational fluid dynamic. In this analysis, I used computational fluid dynamic (CFD) by using SolidWorks Flow Simulation software. The idea came through to overcome the problem of ordinary quadrotor UAV which has larger size due to using four rotors and the propellers are exposed to environment. The bladeless MAV body is designed to protect all electronic parts, which means it can be used in rainy condition. It also has been made to increase the thrust produced by the ducted propeller compare to exposed propeller. From the analysis result, the air flow velocity at the ducted area increased to twice the inlet air. This means that the duct contribute to the increasing of air velocity

  2. Internal air flow analysis of a bladeless micro aerial vehicle hemisphere body using computational fluid dynamic

    Energy Technology Data Exchange (ETDEWEB)

    Othman, M. N. K., E-mail: najibkhir86@gmail.com, E-mail: zuradzman@unimap.edu.my, E-mail: hazry@unimap.edu.my, E-mail: khairunizam@unimap.edu.my, E-mail: shahriman@unimap.edu.my, E-mail: s.yaacob@unimap.edu.my, E-mail: syedfaiz@unimap.edu.my, E-mail: abadal@unimap.edu.my; Zuradzman, M. Razlan, E-mail: najibkhir86@gmail.com, E-mail: zuradzman@unimap.edu.my, E-mail: hazry@unimap.edu.my, E-mail: khairunizam@unimap.edu.my, E-mail: shahriman@unimap.edu.my, E-mail: s.yaacob@unimap.edu.my, E-mail: syedfaiz@unimap.edu.my, E-mail: abadal@unimap.edu.my; Hazry, D., E-mail: najibkhir86@gmail.com, E-mail: zuradzman@unimap.edu.my, E-mail: hazry@unimap.edu.my, E-mail: khairunizam@unimap.edu.my, E-mail: shahriman@unimap.edu.my, E-mail: s.yaacob@unimap.edu.my, E-mail: syedfaiz@unimap.edu.my, E-mail: abadal@unimap.edu.my; Khairunizam, Wan, E-mail: najibkhir86@gmail.com, E-mail: zuradzman@unimap.edu.my, E-mail: hazry@unimap.edu.my, E-mail: khairunizam@unimap.edu.my, E-mail: shahriman@unimap.edu.my, E-mail: s.yaacob@unimap.edu.my, E-mail: syedfaiz@unimap.edu.my, E-mail: abadal@unimap.edu.my; Shahriman, A. B., E-mail: najibkhir86@gmail.com, E-mail: zuradzman@unimap.edu.my, E-mail: hazry@unimap.edu.my, E-mail: khairunizam@unimap.edu.my, E-mail: shahriman@unimap.edu.my, E-mail: s.yaacob@unimap.edu.my, E-mail: syedfaiz@unimap.edu.my, E-mail: abadal@unimap.edu.my; Yaacob, S., E-mail: najibkhir86@gmail.com, E-mail: zuradzman@unimap.edu.my, E-mail: hazry@unimap.edu.my, E-mail: khairunizam@unimap.edu.my, E-mail: shahriman@unimap.edu.my, E-mail: s.yaacob@unimap.edu.my, E-mail: syedfaiz@unimap.edu.my, E-mail: abadal@unimap.edu.my; Ahmed, S. Faiz, E-mail: najibkhir86@gmail.com, E-mail: zuradzman@unimap.edu.my, E-mail: hazry@unimap.edu.my, E-mail: khairunizam@unimap.edu.my, E-mail: shahriman@unimap.edu.my, E-mail: s.yaacob@unimap.edu.my, E-mail: syedfaiz@unimap.edu.my, E-mail: abadal@unimap.edu.my [Centre of Excellence for Unmanned Aerial Systems, Universiti Malaysia Perlis, 01000 Kangar, Perlis (Malaysia); and others

    2014-12-04

    This paper explain the analysis of internal air flow velocity of a bladeless vertical takeoff and landing (VTOL) Micro Aerial Vehicle (MAV) hemisphere body. In mechanical design, before produce a prototype model, several analyses should be done to ensure the product's effectiveness and efficiency. There are two types of analysis method can be done in mechanical design; mathematical modeling and computational fluid dynamic. In this analysis, I used computational fluid dynamic (CFD) by using SolidWorks Flow Simulation software. The idea came through to overcome the problem of ordinary quadrotor UAV which has larger size due to using four rotors and the propellers are exposed to environment. The bladeless MAV body is designed to protect all electronic parts, which means it can be used in rainy condition. It also has been made to increase the thrust produced by the ducted propeller compare to exposed propeller. From the analysis result, the air flow velocity at the ducted area increased to twice the inlet air. This means that the duct contribute to the increasing of air velocity.

  3. Global optimal path planning of an autonomous vehicle for overtaking a moving obstacle

    Directory of Open Access Journals (Sweden)

    B. Mashadi

    Full Text Available In this paper, the global optimal path planning of an autonomous vehicle for overtaking a moving obstacle is proposed. In this study, the autonomous vehicle overtakes a moving vehicle by performing a double lane-change maneuver after detecting it in a proper distance ahead. The optimal path of vehicle for performing the lane-change maneuver is generated by a path planning program in which the sum of lateral deviation of the vehicle from a reference path and the rate of steering angle become minimum while the lateral acceleration of vehicle does not exceed a safe limit value. A nonlinear optimal control theory with the lateral vehicle dynamics equations and inequality constraint of lateral acceleration are used to generate the path. The indirect approach for solving the optimal control problem is used by applying the calculus of variation and the Pontryagin's Minimum Principle to obtain first-order necessary conditions for optimality. The optimal path is generated as a global optimal solution and can be used as the benchmark of the path generated by the local motion planning of autonomous vehicles. A full nonlinear vehicle model in CarSim software is used for path following simulation by importing path data from the MATLAB code. The simulation results show that the generated path for the autonomous vehicle satisfies all vehicle dynamics constraints and hence is a suitable overtaking path for the following vehicle.

  4. Design, testing, and performance of a hybrid micro vehicle---The Hopping Rotochute

    Science.gov (United States)

    Beyer, Eric W.

    The Hopping Rotochute is a new hybrid micro vehicle that has been developed to robustly explore environments with rough terrain while minimizing energy consumption over long periods of time. The device consists of a small coaxial rotor system housed inside a lightweight cage. The vehicle traverses an area by intermittently powering a small electric motor which drives the rotor system, allowing the vehicle to hop over obstacles of various shapes and sizes. A movable internal mass controls the direction of travel while the egg-like exterior shape and low mass center allows the vehicle to passively reorient itself to an upright attitude when in contact with the ground. This dissertation presents the design, fabrication, and testing of a radio-controlled Hopping Rotochute prototype as well as an analytical study of the flight performance of the device. The conceptual design iterations are first outlined which were driven by the mission and system requirements assigned to the vehicle. The aerodynamic, mechanical, and electrical design of a prototype is then described, based on the final conceptual design, with particular emphasis on the fundamental trades that must be negotiated for this type of hopping vehicle. The fabrication and testing of this prototype is detailed as well as experimental results obtained from a motion capture system. Basic flight performance of the prototype are reported which demonstrates that the Hopping Rotochute satisfies all appointed system requirements. A dynamic model of the Hopping Rotochute is also developed in this thesis and employed to predict the flight performance of the vehicle. The dynamic model includes aerodynamic loads from the body and rotor system as well as a soft contact model to estimate the forces and moments during ground contact. The experimental methods used to estimate the dynamic model parameters are described while comparisons between measured and simulated motion are presented. Good correlation between these motions

  5. 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...

  6. The Pneumatic Actuators As Vertical Dynamic Load Simulators On Medium Weighted Wheel Suspension Mechanism

    Science.gov (United States)

    Ka'ka, Simon; Himran, Syukri; Renreng, Ilyas; Sutresman, Onny

    2018-02-01

    Almost all of road damage can be caused by dynamic loads of vehicles that fluctuate according to the type of vehicle that passes through. This study aims to calculate the vertical dynamic load of the vehicle actually occurs on road construction by the mechanism of vehicle wheel suspension. Pneumatic cylinders driven by pressurized air directly load the spring and shock absorber installed on the wheels of the vehicle. The load fluctuations of the medium weight categorized vehicles are determined by the regulation of the amount of pressurized air that enters into the pneumatic cylinder chamber, pushing the piston and connecting rods. The displacement that occurs during compression on the spring and shock absorber, is substituted into the equation of vehicle dynamic load while taking into account the spring stiffness constant, and the fluid or damper gas coefficient. The results show that the magnitude of the displacement when the compression force works has significant influences to the amount of vertical dynamic load of the vehicle that overlies the road construction. The presence of dynamic load of vehicles that fluctuates and repeats, also affects on the reduction of road ability to receive the load. Experimental results using pneumatic actuators instead of real dynamic vehicle loads illustrate the characteristics of the relationship between work pressure and dynamic load. If the working pressure of P2 (bar) is greater, the vertical dynamic load Ft (N) that overloads the road structure is also greater. The associate graphs show that the shock absorber has a greater ability to reduce dynamic load vertically that burden the road structure when compared with the ability of screw spring.

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

    Directory of Open Access Journals (Sweden)

    Danna Jiang

    2017-01-01

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

  8. Guidelines for Vehicle Robbery Prevention using Remote Blocking Signals

    Directory of Open Access Journals (Sweden)

    Narong Sangwaranatee

    2016-01-01

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

  9. Intelligent Vehicle Health Management

    Science.gov (United States)

    Paris, Deidre E.; Trevino, Luis; Watson, Michael D.

    2005-01-01

    objectives: Guidance and Navigation; Communications and Tracking; Vehicle Monitoring; Information Transport and Integration; Vehicle Diagnostics; Vehicle Prognostics; Vehicle mission Planning; Automated Repair and Replacement; Vehicle Control; Human Computer Interface; and Onboard Verification and Validation. Furthermore, the presented framework provides complete vehicle management which not only allows for increased crew safety and mission success through new intelligence capabilities, but also yields a mechanism for more efficient vehicle operations. The representative IVHM technologies for computer platform using heterogeneous communication, 3) coupled electromagnetic oscillators for enhanced communications, 4) Linux-based real-time systems, 5) genetic algorithms, 6) Bayesian Networks, 7) evolutionary algorithms, 8) dynamic systems control modeling, and 9) advanced sensing capabilities. This paper presents IVHM technologies developed under NASA's NFFP pilot project and the integration of these technologies forms the framework for IIVM.

  10. Physics-Based Aeroelastic Analysis for Future Air Vehicle Concepts Using a Fully Nonlinear Methodology

    National Research Council Canada - National Science Library

    Strganac, Thomas W

    2007-01-01

    Future air vehicles will be highly flexible and will include deformable sub-systems resulting in new physical interactions between a vehicle's structure, the surrounding flowfleld, and the dynamics...

  11. Vibroacoustical analysis of rail vehicle

    Directory of Open Access Journals (Sweden)

    Králíček J.

    2007-11-01

    Full Text Available The article deals with the vibroacoustical analysis of rail vehicle and is the extension of the previously presented work “Modelování podvozku kolejového vozidla s poddajným rámem”. The vibroacoustical analysis uses the outcomes of the dynamical analysis of rail vehicle bogie i.e. surface velocities of the bogie frame to compute the acoustic power radiated by the bogie frame and forces acting in the bogie-body interface. The radiated power and the force spectra are then used as the excitation to the rail body model in the environment Auto-SEA to compute the interior acoustic quantities.

  12. 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.

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

    Science.gov (United States)

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

    2015-08-01

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

  14. Routing the asteroid surface vehicle with detailed mechanics

    Science.gov (United States)

    Yu, Yang; Baoyin, He-Xi

    2014-06-01

    The motion of a surface vehicle on/above an irregular object is investigated for a potential interest in the insitu explorations to asteroids of the solar system. A global valid numeric method, including detailed gravity and geomorphology, is developed to mimic the behaviors of the test particles governed by the orbital equations and surface coupling effects. A general discussion on the surface mechanical environment of a specified asteroid, 1620 Geographos, is presented to make a global evaluation of the surface vehicle's working conditions. We show the connections between the natural trajectories near the ground and differential features of the asteroid surface, which describes both the good and bad of typical terrains from the viewpoint of vehicles' dynamic performances. Monte Carlo simulations are performed to take a further look at the trajectories of particles initializing near the surface. The simulations reveal consistent conclusions with the analysis, i.e., the open-field flat ground and slightly concave basins/valleys are the best choices for the vehicles' dynamical security. The dependence of decending trajectories on the releasing height is studied as an application; the results show that the pole direction (where the centrifugal force is zero) is the most stable direction in which the shift of a natural trajectory will be well limited after landing. We present this work as an example for pre-analysis that provides guidance to engineering design of the exploration site and routing the surface vehicles.

  15. Studying the Effect of Roughness of Wet Road on Critical speed of Vehicle

    Directory of Open Access Journals (Sweden)

    Ali K. Mohammed

    2018-01-01

    Full Text Available Hydroplaning is one the most dangerous phenomena which effect on the safety of driving cars on wet roads, then, the critical speed of slipping cars is an important parameter in the hydroplaning ,and depends on the properties of  the following three  parameters: tires, water layer and  road surface. The road texture is the main property of road specifications which affect directly on the critical speed of the vehicle. In the present work, the properties of road roughness and influence of surface texture on critical speed of vehicle are studied with variation of the following parameters: thickness and dynamic viscosity of water on the road surface and the vehicle load. The results showed that increasing the road surface roughness and the vehicle load both has a appositive influence on the critical speed (increaseof the vehicle, while increasing the dynamic viscosity and thickness of the water layer on the road surface has a negative influence on the critical speed (decrease of the vehicle. DOI: http://dx.doi.org/10.25130/tjes.24.2017.24

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

    Science.gov (United States)

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

    2018-03-01

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

  17. Towards zero emission urban logistics: Challenges and issues for implementation of electric freight vehicles in city logistics

    NARCIS (Netherlands)

    Quak, H.; Nesterova, N.

    2014-01-01

    Purpose Electric freight vehicles (EFVs) are one of the solutions to improve city logistics’ sustainability. EFVs, that are electric powered light and heavy vehicles with a number plate, have the potential to make zero emission city logistics possible within the urban area. However, although trials

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

    Science.gov (United States)

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

    2012-06-01

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

  19. Measurement of Vehicle-Bridge-Interaction force using dynamic tire pressure monitoring

    Science.gov (United States)

    Chen, Zhao; Xie, Zhipeng; Zhang, Jian

    2018-05-01

    The Vehicle-Bridge-Interaction (VBI) force, i.e., the normal contact force of a tire, is a key component in the VBI mechanism. The VBI force measurement can facilitate experimental studies of the VBI as well as input-output bridge structural identification. This paper introduces an innovative method for calculating the interaction force by using dynamic tire pressure monitoring. The core idea of the proposed method combines the ideal gas law and a basic force model to build a relationship between the tire pressure and the VBI force. Then, unknown model parameters are identified by the Extended Kalman Filter using calibration data. A signal filter based on the wavelet analysis is applied to preprocess the effect that the tire rotation has on the pressure data. Two laboratory tests were conducted to check the proposed method's validity. The effects of different road irregularities, loads and forward velocities were studied. Under the current experiment setting, the proposed method was robust to different road irregularities, and the increase in load and velocity benefited the performance of the proposed method. A high-speed test further supported the use of this method in rapid bridge tests. Limitations of the derived theories and experiment were also discussed.

  20. ON THE DYNAMIC VERTICAL WHEEL-RAIL FORCES AT LOW FREQUENCIES

    Directory of Open Access Journals (Sweden)

    Mădălina DUMITRIU

    2012-05-01

    Full Text Available To homologate the railay vehicles, from the pespective of dynamic behavior, the dynamic forces generated at the wheel/rail interface should be limited, in order to comply with the criterion regarding the rolling track fatigue. The meeting of this requirement implies the vehicle adjustment in its construction. This paper examines the influence of certain vehicle parameters upon the magnitude of the dynamic vertical loads derived during travelling on a track with random irregularities. It will be shown how the minimizing condition of the dynamic vertical loads can result into the best primary suspension damping

  1. Stochastic Optimal Control of Parallel Hybrid Electric Vehicles

    Directory of Open Access Journals (Sweden)

    Feiyan Qin

    2017-02-01

    Full Text Available Energy management strategies (EMSs in hybrid electric vehicles (HEVs are highly related to the fuel economy and emission performances. However, EMS constitutes a challenging problem due to the complex structure of a HEV and the unknown or partially known driving cycles. To meet this problem, this paper adopts a stochastic dynamic programming (SDP method for the EMS of a specially designed vehicle, a pre-transmission single-shaft torque-coupling parallel HEV. In this parallel HEV, the auto clutch output is connected to the transmission input through an electric motor, which benefits an efficient motor assist operation. In this EMS, demanded torque of driver is modeled as a one-state Markov process to represent the uncertainty of future driving situations. The obtained EMS has been evaluated with ADVISOR2002 over two standard government drive cycles and a self-defined one, and compared with a dynamic programming (DP one and a rule-based one. Simulation results have shown the real-time performance of the proposed approach, and potential vehicle performance improvement relative to the rule-based one.

  2. Heavy Vehicles on Minor Highway Bridges

    DEFF Research Database (Denmark)

    Nielsen, Søren R. K.; Kirkegaard, Poul Henning; Enevoldsen, I.

    The present paper worked out as a part of a research project on "Dynamic amplification factor of vehicle loadings on smaller bridges" establishes a two-dimensional spectral description of the road roughness surface based on measurements from a Danish road using so-called Profilograph used by Dani...

  3. 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.

  4. A Coupling Vibration Test Bench and the Simulation Research of a Maglev Vehicle

    Directory of Open Access Journals (Sweden)

    Weihua Ma

    2015-01-01

    Full Text Available To study the characteristics of the coupling vibration between a maglev vehicle and its track beam system and to improve the performance of the levitation system, a new type of vibration test bench was developed. Take a single maglev frame as the study object; simulation of the coupling vibration of the maglev vehicle, levitation system, and track beam were achieved. In addition, all types of real track irregularity excitations can be simulated using hydraulic actuators of the test bench. To expand the research scope, a simulation model was developed that can conduct the simulation research synergistically with the test bench. Based on a dynamics model of the test bench, the dynamics simulation method determined the influence on the levitation control performance of three factors: the track beam support stiffness, the track beam mass, and the track irregularity. The vibration resonance phenomenon of the vehicle/track system was reproduced by the dynamics simulation, and a portion of the simulation results were validated by the test results. By combining the test bench and the dynamics model, experiments can be guided by the simulation results, and the experimental results can validate the dynamics simulation results.

  5. Remotely detected vehicle mass from engine torque-induced frame twisting

    Science.gov (United States)

    McKay, Troy R.; Salvaggio, Carl; Faulring, Jason W.; Sweeney, Glenn D.

    2017-06-01

    Determining the mass of a vehicle from ground-based passive sensor data is important for many traffic safety requirements. This work presents a method for calculating the mass of a vehicle using ground-based video and acoustic measurements. By assuming that no energy is lost in the conversion, the mass of a vehicle can be calculated from the rotational energy generated by the vehicle's engine and the linear acceleration of the vehicle over a period of time. The amount of rotational energy being output by the vehicle's engine can be calculated from its torque and angular velocity. This model relates remotely observed, engine torque-induced frame twist to engine torque output using the vehicle's suspension parameters and engine geometry. The angular velocity of the engine is extracted from the acoustic emission of the engine, and the linear acceleration of the vehicle is calculated by remotely observing the position of the vehicle over time. This method combines these three dynamic signals; engine induced-frame twist, engine angular velocity, and the vehicle's linear acceleration, and three vehicle specific scalar parameters, into an expression that describes the mass of the vehicle. This method was tested on a semitrailer truck, and the results demonstrate a correlation of 97.7% between calculated and true vehicle mass.

  6. Coupled vibration analysis of Maglev vehicle-guideway while standing still or moving at low speeds

    Science.gov (United States)

    Kim, Ki-Jung; Han, Jong-Boo; Han, Hyung-Suk; Yang, Seok-Jo

    2015-04-01

    Dynamic instability, that is, resonance, may occur on an electromagnetic suspension-type Maglev that runs over the elevated guideway, particularly at very low speeds, due to the flexibility of the guideway. An analysis of the dynamic interaction between the vehicle and guideway is required at the design stage to investigate such instability, setting slender guideway in design direction for reducing construction costs. In addition, it is essential to design an effective control algorithm to solve the problem of instability. In this article, a more detailed model for the dynamic interaction of vehicle/guideway is proposed. The proposed model incorporates a 3D full vehicle model based on virtual prototyping, flexible guideway by a modal superposition method and levitation electromagnets including feedback controller into an integrated model. By applying the proposed model to an urban Maglev vehicle newly developed for commercial application, an analysis of the instability phenomenon and an investigation of air gap control performance are carried out through a simulation.

  7. Hierarchical Motion Planning for Autonomous Aerial and Terrestrial Vehicles

    Science.gov (United States)

    Cowlagi, Raghvendra V.

    Autonomous mobile robots---both aerial and terrestrial vehicles---have gained immense importance due to the broad spectrum of their potential military and civilian applications. One of the indispensable requirements for the autonomy of a mobile vehicle is the vehicle's capability of planning and executing its motion, that is, finding appropriate control inputs for the vehicle such that the resulting vehicle motion satisfies the requirements of the vehicular task. The motion planning and control problem is inherently complex because it involves two disparate sub-problems: (1) satisfaction of the vehicular task requirements, which requires tools from combinatorics and/or formal methods, and (2) design of the vehicle control laws, which requires tools from dynamical systems and control theory. Accordingly, this problem is usually decomposed and solved over two levels of hierarchy. The higher level, called the geometric path planning level, finds a geometric path that satisfies the vehicular task requirements, e.g., obstacle avoidance. The lower level, called the trajectory planning level, involves sufficient smoothening of this geometric path followed by a suitable time parametrization to obtain a reference trajectory for the vehicle. Although simple and efficient, such hierarchical decomposition suffers a serious drawback: the geometric path planner has no information of the kinematical and dynamical constraints of the vehicle. Consequently, the geometric planner may produce paths that the trajectory planner cannot transform into a feasible reference trajectory. Two main ideas appear in the literature to remedy this problem: (a) randomized sampling-based planning, which eliminates the geometric planner altogether by planning in the vehicle state space, and (b) geometric planning supported by feedback control laws. The former class of methods suffer from a lack of optimality of the resultant trajectory, while the latter class of methods makes a restrictive assumption

  8. Development of a dynamic quality assurance testing protocol for multisite clinical trial DCE-CT accreditation

    Energy Technology Data Exchange (ETDEWEB)

    Driscoll, B. [Department of Radiation Physics, Princess Margaret Cancer Center, 610 University Avenue, Toronto, Ontario M5G 2M9 (Canada); Keller, H. [Department of Radiation Physics, Princess Margaret Cancer Center, 610 University Avenue, Toronto, Ontario M5G 2M9, Canada and Department of Radiation Oncology, University of Toronto, 150 College Street, Toronto, Ontario M5S 3E2 (Canada); Jaffray, D.; Coolens, C. [Department of Radiation Physics, Princess Margaret Cancer Center, 610 University Avenue, Toronto, Ontario M5G 2M9 (Canada); Department of Radiation Oncology, University of Toronto, 150 College Street, Toronto, Ontario M5S 3E2 (Canada); Techna Institute, University Health Network, 124-100 College Street, Toronto, Ontario M5G 1L5 (Canada)

    2013-08-15

    Purpose: Credentialing can have an impact on whether or not a clinical trial produces useful quality data that is comparable between various institutions and scanners. With the recent increase of dynamic contrast enhanced-computed tomography (DCE-CT) usage as a companion biomarker in clinical trials, effective quality assurance, and control methods are required to ensure there is minimal deviation in the results between different scanners and protocols at various institutions. This paper attempts to address this problem by utilizing a dynamic flow imaging phantom to develop and evaluate a DCE-CT quality assurance (QA) protocol.Methods: A previously designed flow phantom, capable of producing predictable and reproducible time concentration curves from contrast injection was fully validated and then utilized to design a DCE-CT QA protocol. The QA protocol involved a set of quantitative metrics including injected and total mass error, as well as goodness of fit comparison to the known truth concentration curves. An additional region of interest (ROI) sensitivity analysis was also developed to provide additional details on intrascanner variability and determine appropriate ROI sizes for quantitative analysis. Both the QA protocol and ROI sensitivity analysis were utilized to test variations in DCE-CT results using different imaging parameters (tube voltage and current) as well as alternate reconstruction methods and imaging techniques. The developed QA protocol and ROI sensitivity analysis was then applied at three institutions that were part of clinical trial involving DCE-CT and results were compared.Results: The inherent specificity of robustness of the phantom was determined through calculation of the total intraday variability and determined to be less than 2.2 ± 1.1% (total calculated output contrast mass error) with a goodness of fit (R{sup 2}) of greater than 0.99 ± 0.0035 (n= 10). The DCE-CT QA protocol was capable of detecting significant deviations from

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

    OpenAIRE

    Graells, Antonio; Carrabina, Francisco

    2016-01-01

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

  10. 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...

  11. 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.

  12. Formulation of Equations of Motion for a Simply Supported Bridge under a Moving Railway Freight Vehicle

    Directory of Open Access Journals (Sweden)

    Ping Lou

    2007-01-01

    Full Text Available Based on energy approach, the equations of motion in matrix form for the railway freight vehicle-bridge interaction system are derived, in which the dynamic contact forces between vehicle and bridge are considered as internal forces. The freight vehicle is modelled as a multi-rigid-body system, which comprises one car body, two bogie frames and four wheelsets. The bogie frame is linked with the car body through spring-dashpot suspension systems, and the bogie frame is rigidly linked with wheelsets. The bridge deck, together with railway track resting on bridge, is modelled as a simply supported Bernoulli-Euler beam and its deflection is described by superimposing modes. The direct time integration method is applied to obtain the dynamic response of the vehicle-bridge interaction system at each time step. A computer program has been developed for analyzing this system. The correctness of the proposed procedure is confirmed by one numerical example. The effect of different beam mode numbers and various surface irregularities of beam on the dynamic responses of the vehicle-bridge interaction system are investigated.

  13. Automatic vehicle counting system for traffic monitoring

    Science.gov (United States)

    Crouzil, Alain; Khoudour, Louahdi; Valiere, Paul; Truong Cong, Dung Nghy

    2016-09-01

    The article is dedicated to the presentation of a vision-based system for road vehicle counting and classification. The system is able to achieve counting with a very good accuracy even in difficult scenarios linked to occlusions and/or presence of shadows. The principle of the system is to use already installed cameras in road networks without any additional calibration procedure. We propose a robust segmentation algorithm that detects foreground pixels corresponding to moving vehicles. First, the approach models each pixel of the background with an adaptive Gaussian distribution. This model is coupled with a motion detection procedure, which allows correctly location of moving vehicles in space and time. The nature of trials carried out, including peak periods and various vehicle types, leads to an increase of occlusions between cars and between cars and trucks. A specific method for severe occlusion detection, based on the notion of solidity, has been carried out and tested. Furthermore, the method developed in this work is capable of managing shadows with high resolution. The related algorithm has been tested and compared to a classical method. Experimental results based on four large datasets show that our method can count and classify vehicles in real time with a high level of performance (>98%) under different environmental situations, thus performing better than the conventional inductive loop detectors.

  14. Intelligent autonomy for unmanned marine vehicles robotic control architecture based on service-oriented agents

    CERN Document Server

    Insaurralde, Carlos C

    2015-01-01

    This book presents an Intelligent Control Architecture (ICA) to enable multiple collaborating marine vehicles to autonomously carry out underwater intervention missions. The presented ICA is generic in nature but aimed at a case study where a marine surface craft and an underwater vehicle are required to work cooperatively. It is shown that they are capable of cooperating autonomously towards the execution of complex activities since they have different but complementary capabilities. The ICA implementation is verified in simulation, and validated in trials by means of a team of autonomous marine robots. This book also presents architectural details and evaluation scenarios of the ICA, results of simulations and trials from different maritime operations, and future research directions.

  15. Development of a Refined Space Vehicle Rollout Forcing Function

    Science.gov (United States)

    James, George; Tucker, Jon-Michael; Valle, Gerard; Grady, Robert; Schliesing, John; Fahling, James; Emory, Benjamin; Armand, Sasan

    2016-01-01

    For several decades, American manned spaceflight vehicles and the associated launch platforms have been transported from final assembly to the launch pad via a pre-launch phase called rollout. The rollout environment is rich with forced harmonics and higher order effects can be used for extracting structural dynamics information. To enable this utilization, processing tools are needed to move from measured and analytical data to dynamic metrics such as transfer functions, mode shapes, modal frequencies, and damping. This paper covers the range of systems and tests that are available to estimate rollout forcing functions for the Space Launch System (SLS). The specific information covered in this paper includes: the different definitions of rollout forcing functions; the operational and developmental data sets that are available; the suite of analytical processes that are currently in-place or in-development; and the plans and future work underway to solve two immediate problems related to rollout forcing functions. Problem 1 involves estimating enforced accelerations to drive finite element models for developing design requirements for the SLS class of launch vehicles. Problem 2 involves processing rollout measured data in near real time to understand structural dynamics properties of a specific vehicle and the class to which it belongs.

  16. Nonlinear approaches in engineering applications advanced analysis of vehicle related technologies

    CERN Document Server

    Dai, Liming

    2016-01-01

    This book looks at the broad field of engineering science through the lens of nonlinear approaches. Examples focus on issues in vehicle technology, including vehicle dynamics, vehicle-road interaction, steering, and control for electric and hybrid vehicles. Also included are discussions on train and tram systems, aerial vehicles, robot-human interaction, and contact and scratch analysis at the micro/nanoscale. Chapters are based on invited contributions from world-class experts in the field who advance the future of engineering by discussing the development of more optimal, accurate, efficient, and cost and energy effective systems. This book is appropriate for researchers, students, and practicing engineers who are interested in the applications of nonlinear approaches to solving engineering and science problems.

  17. Localization of a Vehicle: A Dynamic Interval Constraint Satisfaction Problem-Based Approach

    Directory of Open Access Journals (Sweden)

    Kangni Kueviakoe

    2018-01-01

    Full Text Available This paper introduces a new interval constraint propagation (ICP approach dealing with the real-time vehicle localization problem. Bayesian methods like extended Kalman filter (EKF are classically used to achieve vehicle localization. ICP is an alternative which provides guaranteed localization results rather than probabilities. Our approach assumes that all models and measurement errors are bounded within known limits without any other hypotheses on the probability distribution. The proposed algorithm uses a low-level consistency algorithm and has been validated with an outdoor vehicle equipped with a GPS receiver, a gyro, and odometers. Results have been compared to EKF and other ICP methods such as hull consistency (HC4 and 3-bound (3B algorithms. Both consistencies of EKF and our algorithm have been experimentally studied.

  18. Time-domain simulation and nonlinear analysis on ride performance of four-wheel vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Wang, Y S; He, H; Geng, A L [School of Automobile and Traffic Engineering, Liaoning University of Technology, Jinzhou 121001 (China)], E-mail: jzwbt@163.com

    2008-02-15

    A nonlinear dynamic model with eight DOFs of a four-wheel vehicle is established in this paper. After detaching the nonlinear characteristics of the leaf springs and shock absorbers, the multi-step linearizing method is used to simulate the vehicle vibration in time domain, under a correlated four-wheel road roughness model. Experimental verifications suggest that the newly built vehicle model and simulation procedure are reasonable and feasible to be used in vehicle vibration analysis. Furthermore, some nonlinear factors of the leaf springs and shock absorbers, which affect the vehicle ride performance (or comfort), are investigated under different vehicle running speeds. Some substaintial rules of the nonlinear vehicle vibrations are revealed in this paper.

  19. Time-domain simulation and nonlinear analysis on ride performance of four-wheel vehicles

    International Nuclear Information System (INIS)

    Wang, Y S; He, H; Geng, A L

    2008-01-01

    A nonlinear dynamic model with eight DOFs of a four-wheel vehicle is established in this paper. After detaching the nonlinear characteristics of the leaf springs and shock absorbers, the multi-step linearizing method is used to simulate the vehicle vibration in time domain, under a correlated four-wheel road roughness model. Experimental verifications suggest that the newly built vehicle model and simulation procedure are reasonable and feasible to be used in vehicle vibration analysis. Furthermore, some nonlinear factors of the leaf springs and shock absorbers, which affect the vehicle ride performance (or comfort), are investigated under different vehicle running speeds. Some substaintial rules of the nonlinear vehicle vibrations are revealed in this paper

  20. Medio-lateral knee fluency in anterior cruciate ligament-injured athletes during dynamic movement trials.

    Science.gov (United States)

    Panos, Joseph A; Hoffman, Joshua T; Wordeman, Samuel C; Hewett, Timothy E

    2016-03-01

    Correction of neuromuscular impairments after anterior cruciate ligament injury is vital to successful return to sport. Frontal plane knee control during landing is a common measure of lower-extremity neuromuscular control and asymmetries in neuromuscular control of the knee can predispose injured athletes to additional injury and associated morbidities. Therefore, this study investigated the effects of anterior cruciate ligament injury on knee biomechanics during landing. Two-dimensional frontal plane video of single leg drop, cross over drop, and drop vertical jump dynamic movement trials was analyzed for twenty injured and reconstructed athletes. The position of the knee joint center was tracked in ImageJ software for 500 milliseconds after landing to calculate medio-lateral knee motion velocities and determine normal fluency, the number of times per second knee velocity changed direction. The inverse of this calculation, analytical fluency, was used to associate larger numerical values with fluent movement. Analytical fluency was decreased in involved limbs for single leg drop trials (P=0.0018). Importantly, analytical fluency for single leg drop differed compared to cross over drop trials for involved (Pinjury. Copyright © 2016 Elsevier Ltd. All rights reserved.

  1. 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.

  2. Automated driving and autonomous functions on road vehicles

    Science.gov (United States)

    Gordon, T. J.; Lidberg, M.

    2015-07-01

    In recent years, road vehicle automation has become an important and popular topic for research and development in both academic and industrial spheres. New developments have received extensive coverage in the popular press, and it may be said that the topic has captured the public imagination. Indeed, the topic has generated interest across a wide range of academic, industry and governmental communities, well beyond vehicle engineering; these include computer science, transportation, urban planning, legal, social science and psychology. While this follows a similar surge of interest - and subsequent hiatus - of Automated Highway Systems in the 1990s, the current level of interest is substantially greater, and current expectations are high. It is common to frame the new technologies under the banner of 'self-driving cars' - robotic systems potentially taking over the entire role of the human driver, a capability that does not fully exist at present. However, this single vision leads one to ignore the existing range of automated systems that are both feasible and useful. Recent developments are underpinned by substantial and long-term trends in 'computerisation' of the automobile, with developments in sensors, actuators and control technologies to spur the new developments in both industry and academia. In this paper, we review the evolution of the intelligent vehicle and the supporting technologies with a focus on the progress and key challenges for vehicle system dynamics. A number of relevant themes around driving automation are explored in this article, with special focus on those most relevant to the underlying vehicle system dynamics. One conclusion is that increased precision is needed in sensing and controlling vehicle motions, a trend that can mimic that of the aerospace industry, and similarly benefit from increased use of redundant by-wire actuators.

  3. Intelligence Level Performance Standards Research for Autonomous Vehicles.

    Science.gov (United States)

    Bostelman, Roger B; Hong, Tsai H; Messina, Elena

    2015-01-01

    United States and European safety standards have evolved to protect workers near Automatic Guided Vehicles (AGV's). However, performance standards for AGV's and mobile robots have only recently begun development. Lessons can be learned from research and standards efforts for mobile robots applied to emergency response and military applications. Research challenges, tests and evaluations, and programs to develop higher intelligence levels for vehicles can also used to guide industrial AGV developments towards more adaptable and intelligent systems. These other efforts also provide useful standards development criteria for AGV performance test methods. Current standards areas being considered for AGVs are for docking, navigation, obstacle avoidance, and the ground truth systems that measure performance. This paper provides a look to the future with standards developments in both the performance of vehicles and the dynamic perception systems that measure intelligent vehicle performance.

  4. Dynamics of a motor vehicle taking into consideration the interaction of wheels and road pavement surface

    Directory of Open Access Journals (Sweden)

    O. Prentkovskis

    2002-12-01

    Full Text Available The authors of this article focus on the simulation of the motor vehicle on a certain road and propose their specific solution of this problem. A mathematical model of the system “motor vehicle – road” is presented. The motor vehicle is simulated by concentrated masses interconnected by elastic and dissipative links. The presented model of the motor vehicle evaluates the movement of the motor vehicle body in space; the movement and turning of front and rear suspensions with respect to the body; the interaction of the wheel with the road pavement surface; the blocking of the wheel; the changing cohesive forces which influence the motor vehicle. The investigated road pavement surface is simulated by triangular finite elements, the certain height of road pavement surface roughness and the cohesion coefficients of road pavement surface and the motor vehicle wheel in the longitudinal and transverse directions of the wheel are selected in each finite element nodal point. The presented results illustrate: the motor vehicle movement trajectories braking at various initial conditions and on a certain pavement surface of the road section under investigation and the motor vehicle driving on the speed reduction bump (“sleeping policeman”.

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

    Directory of Open Access Journals (Sweden)

    Yi-Hsiang Tseng

    2013-01-01

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

  6. Market Penetration Simulation of Hydrogen Powered Vehicles in Korea

    International Nuclear Information System (INIS)

    Eunju Jun; Yong Hoon, Jeong; Soon Heung, Chang

    2006-01-01

    As oil price being boosted, hydrogen has been considered to be a strong candidate for the future energy carrier along with electricity. Although hydrogen can be produced by many energy sources, carbon-free sources such as nuclear and renewable energy may be ideal ones due to their environmental friendliness. For the analysis of hydrogen economy, the cost and market penetration of various end-use technologies are the most important factors in production and consumer side, respectively. Particularly, hydrogen powered vehicle is getting more interests as fuel cell technologies are developed. In this paper, the hydrogen powered vehicle penetration into the transportation market is simulated. A system dynamic code, Vensim, was utilized to simulate the dynamics in the transportation, assuming various types of vehicle such as gasoline, hybrid electricity and hydrogen powered. Market shares of each vehicle are predicted by using currently available data. The result showed that hydrogen era will not be bright as we think. To reach the era of hydrogen fuel cell cost should be reduced dramatically. And if the hydrogen cost which includes both operating and capital cost reaches to a $0.16 per kilometer, hydrogen portion can be a 50 percent in the transportation sector. However, if strong policy or subsidy can be given, the result will be changed. [1] (authors)

  7. H∞ control of a remotely operated underwater vehicle

    International Nuclear Information System (INIS)

    Conte, G.; Serrani, A.

    1994-01-01

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

  8. Mobile Crowd Sensing for Traffic Prediction in Internet of Vehicles.

    Science.gov (United States)

    Wan, Jiafu; Liu, Jianqi; Shao, Zehui; Vasilakos, Athanasios V; Imran, Muhammad; Zhou, Keliang

    2016-01-11

    The advances in wireless communication techniques, mobile cloud computing, automotive and intelligent terminal technology are driving the evolution of vehicle ad hoc networks into the Internet of Vehicles (IoV) paradigm. This leads to a change in the vehicle routing problem from a calculation based on static data towards real-time traffic prediction. In this paper, we first address the taxonomy of cloud-assisted IoV from the viewpoint of the service relationship between cloud computing and IoV. Then, we review the traditional traffic prediction approached used by both Vehicle to Infrastructure (V2I) and Vehicle to Vehicle (V2V) communications. On this basis, we propose a mobile crowd sensing technology to support the creation of dynamic route choices for drivers wishing to avoid congestion. Experiments were carried out to verify the proposed approaches. Finally, we discuss the outlook of reliable traffic prediction.

  9. Mobile Crowd Sensing for Traffic Prediction in Internet of Vehicles

    Directory of Open Access Journals (Sweden)

    Jiafu Wan

    2016-01-01

    Full Text Available The advances in wireless communication techniques, mobile cloud computing, automotive and intelligent terminal technology are driving the evolution of vehicle ad hoc networks into the Internet of Vehicles (IoV paradigm. This leads to a change in the vehicle routing problem from a calculation based on static data towards real-time traffic prediction. In this paper, we first address the taxonomy of cloud-assisted IoV from the viewpoint of the service relationship between cloud computing and IoV. Then, we review the traditional traffic prediction approached used by both Vehicle to Infrastructure (V2I and Vehicle to Vehicle (V2V communications. On this basis, we propose a mobile crowd sensing technology to support the creation of dynamic route choices for drivers wishing to avoid congestion. Experiments were carried out to verify the proposed approaches. Finally, we discuss the outlook of reliable traffic prediction.

  10. Evaluating damping elements for two-stage suspension vehicles

    Directory of Open Access Journals (Sweden)

    Ronald M. Martinod R.

    2012-01-01

    Full Text Available The technical state of the damping elements for a vehicle having two-stage suspension was evaluated by using numerical models based on the multi-body system theory; a set of virtual tests used the eigenproblem mathematical method. A test was developed based on experimental modal analysis (EMA applied to a physical system as the basis for validating the numerical models. The study focused on evaluating vehicle dynamics to determine the influence of the dampers’ technical state in each suspension state.

  11. Crew Exploration Vehicle (CEV) (Orion) Occupant Protection

    Science.gov (United States)

    Currie-Gregg, Nancy J.; Gernhardt, Michael L.; Lawrence, Charles; Somers, Jeffrey T.

    2016-01-01

    Dr. Nancy J. Currie, of the NASA Engineering and Safety Center (NESC), Chief Engineer at Johnson Space Center (JSC), requested an assessment of the Crew Exploration Vehicle (CEV) occupant protection as a result of issues identified by the Constellation Program and Orion Project. The NESC, in collaboration with the Human Research Program (HRP), investigated new methods associated with occupant protection for the Crew Exploration Vehicle (CEV), known as Orion. The primary objective of this assessment was to investigate new methods associated with occupant protection for the CEV, known as Orion, that would ensure the design provided minimal risk to the crew during nominal and contingency landings in an acceptable set of environmental and spacecraft failure conditions. This documents contains the outcome of the NESC assessment. NASA/TM-2013-217380, "Application of the Brinkley Dynamic Response Criterion to Spacecraft Transient Dynamic Events." supercedes this document.

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

    Directory of Open Access Journals (Sweden)

    Linhui Li

    2014-01-01

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

  13. Stability control for high speed tracked unmanned vehicles

    Science.gov (United States)

    Pape, Olivier; Morillon, Joel G.; Houbloup, Philippe; Leveque, Stephane; Fialaire, Cecile; Gauthier, Thierry; Ropars, Patrice

    2005-05-01

    The French Military Robotic Study Program (introduced in Aerosense 2003), sponsored by the French Defense Procurement Agency and managed by Thales as the prime contractor, focuses on about 15 robotic themes which can provide an immediate "operational add-on value". The paper details the "automatic speed adjustment" behavior (named SYR4), developed by Giat Industries Company, which main goal is to secure the teleoperated mobility of high speed tracked vehicles on rough grounds; more precisely, the validated low level behavior continuously adjusts the vehicle speed taking into account the teleperator wish AND the maximum speed that the vehicle can manage safely according to the commanded radius of curvature. The algorithm is based on a realistic physical model of the ground-tracks relation, taking into account many vehicle and ground parameters (such as ground adherence and dynamic specificities of tracked vehicles). It also deals with the teleoperator-machine interface, providing a balanced strategy between both extreme behaviors: a) maximum speed reduction before initiating the commanded curve; b) executing the minimum possible radius without decreasing the commanded speed. The paper presents the results got from the military acceptance tests performed on tracked SYRANO vehicle (French Operational Demonstrator).

  14. The Dynamic Multi-objective Multi-vehicle Covering Tour Problem

    Science.gov (United States)

    2013-06-01

    144 [38] Coello, Carlos A. Coello, Gary B Lamont, and David A Van Veldhuizen . Evolutionary Algorithms for Solving Multi-Objective Problems. Springer...Traveling Repairperson Problem (DTRP) Policies Proposed by Bertsimas and Van Ryzin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 3.3...queuing theory perspective. Table 3.2: DTRP Policies Proposed by Bertsimas and Van Ryzin. Name Description First Come First Serve (FCFS) vehicles

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

    OpenAIRE

    Mehrdad N. Khajavi; Golamhassan Paygane; Ali Hakima

    2009-01-01

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

  16. Navigation of the autonomous vehicle reverse movement

    Science.gov (United States)

    Rachkov, M.; Petukhov, S.

    2018-02-01

    The paper presents a mathematical formulation of the vehicle reverse motion along a multi-link polygonal trajectory consisting of rectilinear segments interconnected by nodal points. Relevance of the problem is caused by the need to solve a number of tasks: to save the vehicle in the event of а communication break by returning along the trajectory already passed, to avoid a turn on the ground in constrained obstacles or dangerous conditions, or a partial return stroke for the subsequent bypass of the obstacle and continuation of the forward movement. The method of navigation with direct movement assumes that the reverse path is elaborated by using landmarks. To measure landmarks on board, a block of cameras is placed on a vehicle controlled by the operator through the radio channel. Errors in estimating deviation from the nominal trajectory of motion are determined using the multidimensional correlation analysis apparatus based on the dynamics of a lateral deviation error and a vehicle speed error. The result of the experiment showed a relatively high accuracy in determining the state vector that provides the vehicle reverse motion relative to the reference trajectory with a practically acceptable error while returning to the start point.

  17. Enhanced Regenerative Braking Strategies for Electric Vehicles: Dynamic Performance and Potential Analysis

    OpenAIRE

    Boyi Xiao; Huazhong Lu; Hailin Wang; Jiageng Ruan; Nong Zhang

    2017-01-01

    A regenerative braking system and hydraulic braking system are used in conjunction in the majority of electric vehicles worldwide. We propose a new regenerative braking distribution strategy that is based on multi-input fuzzy control logic while considering the influences of the battery’s state of charge, the brake strength and the motor speed. To verify the braking performance and recovery economy, this strategy was applied to a battery electric vehicle model and compared with two other impr...

  18. Does this range suit me? Range satisfaction of battery electric vehicle users.

    Science.gov (United States)

    Franke, Thomas; Günther, Madlen; Trantow, Maria; Krems, Josef F

    2017-11-01

    User satisfaction is a vital design criterion for sustainable systems. The present research aimed to understand factors relating to individually perceived range satisfaction of battery electric vehicle (BEV) users. Data from a large-scale BEV field trial (N = 72) were analyzed. Apart from an initial drop in range satisfaction, increasing practical experience was related to increased range satisfaction. Classical indicators of users' mobility profiles (daily travel distances) were only weakly related to lower range satisfaction (not significant), after controlling for practical experience and preferred coverage of mobility needs. The regularity/predictability of users' mobility patterns, the percentage of journeys not coverable because of range issues, and users' individual comfortable range accounted for variance in range satisfaction. Finally, range satisfaction was related to key indicators of general BEV acceptance (e.g., purchase intentions). These results underline the complex dynamics involved in individual range satisfaction, as well as its central role for BEV acceptance. Copyright © 2017 Elsevier Ltd. All rights reserved.

  19. Modelling And Dynamic Analysis Of Catenary Maintenance Vehicle By AdamsVI-Rail

    Directory of Open Access Journals (Sweden)

    Damla Vural Cavusoglu

    2017-06-01

    Full Text Available The railway transportation network which is become quite important in the recent times in our country and in the world is forced to make new investments by developing technology. Old trains give place to high-speed trains in consequence of the railway catenary lines and the rail systems enter into a mass renovation study. During the renovation studies it is needed the catenary maintenance vehicles which are responded the need fast with wide working area. Until this time while it is continuing the needs of these maintenance vehicles which are gained by import for our country sizeable amount of currency is exported. Thanks to this research in our country it is manufactured the catenary maintenance vehicle for the first time and while the national capital is lying within the national borders it is thought that it will be shaped a new work portfolio.

  20. ELECTROMAGNETIC BIOSPHERE POLLUTION BY MOTOR TRANSPORT (VEHICLES, ELECTRIC VEHICLES, HYBRID VEHICLES

    Directory of Open Access Journals (Sweden)

    S. Selivanov

    2009-01-01

    Full Text Available The physics of the electromagnetic field is considered. The analysis of electromagnetic radiation on the human-being, the origin of which is the vehicle the electric vehicle, the hybrid vehicle is being considered. The monitoring of electromagnetic radiation of vehicles is carried out.

  1. 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.

  2. Inflatable Re-Entry Vehicle Experiment (IRVE) Design Overview

    Science.gov (United States)

    Hughes, Stephen J.; Dillman, Robert A.; Starr, Brett R.; Stephan, Ryan A.; Lindell, Michael C.; Player, Charles J.; Cheatwood, F. McNeil

    2005-01-01

    Inflatable aeroshells offer several advantages over traditional rigid aeroshells for atmospheric entry. Inflatables offer increased payload volume fraction of the launch vehicle shroud and the possibility to deliver more payload mass to the surface for equivalent trajectory constraints. An inflatable s diameter is not constrained by the launch vehicle shroud. The resultant larger drag area can provide deceleration equivalent to a rigid system at higher atmospheric altitudes, thus offering access to higher landing sites. When stowed for launch and cruise, inflatable aeroshells allow access to the payload after the vehicle is integrated for launch and offer direct access to vehicle structure for structural attachment with the launch vehicle. They also offer an opportunity to eliminate system duplication between the cruise stage and entry vehicle. There are however several potential technical challenges for inflatable aeroshells. First and foremost is the fact that they are flexible structures. That flexibility could lead to unpredictable drag performance or an aerostructural dynamic instability. In addition, durability of large inflatable structures may limit their application. They are susceptible to puncture, a potentially catastrophic insult, from many possible sources. Finally, aerothermal heating during planetary entry poses a significant challenge to a thin membrane. NASA Langley Research Center and NASA's Wallops Flight Facility are jointly developing inflatable aeroshell technology for use on future NASA missions. The technology will be demonstrated in the Inflatable Re-entry Vehicle Experiment (IRVE). This paper will detail the development of the initial IRVE inflatable system to be launched on a Terrier/Orion sounding rocket in the fourth quarter of CY2005. The experiment will demonstrate achievable packaging efficiency of the inflatable aeroshell for launch, inflation, leak performance of the inflatable system throughout the flight regime, structural

  3. Autonomous Vehicles: Disengagements, Accidents and Reaction Times.

    Directory of Open Access Journals (Sweden)

    Vinayak V Dixit

    Full Text Available Autonomous vehicles are being viewed with scepticism in their ability to improve safety and the driving experience. A critical issue with automated driving at this stage of its development is that it is not yet reliable and safe. When automated driving fails, or is limited, the autonomous mode disengages and the drivers are expected to resume manual driving. For this transition to occur safely, it is imperative that drivers react in an appropriate and timely manner. Recent data released from the California trials provide compelling insights into the current factors influencing disengagements of autonomous mode. Here we show that the number of accidents observed has a significantly high correlation with the autonomous miles travelled. The reaction times to take control of the vehicle in the event of a disengagement was found to have a stable distribution across different companies at 0.83 seconds on average. However, there were differences observed in reaction times based on the type of disengagements, type of roadway and autonomous miles travelled. Lack of trust caused by the exposure to automated disengagements was found to increase the likelihood to take control of the vehicle manually. Further, with increased vehicle miles travelled the reaction times were found to increase, which suggests an increased level of trust with more vehicle miles travelled. We believe that this research would provide insurers, planners, traffic management officials and engineers fundamental insights into trust and reaction times that would help them design and engineer their systems.

  4. Autonomous Vehicles: Disengagements, Accidents and Reaction Times.

    Science.gov (United States)

    Dixit, Vinayak V; Chand, Sai; Nair, Divya J

    2016-01-01

    Autonomous vehicles are being viewed with scepticism in their ability to improve safety and the driving experience. A critical issue with automated driving at this stage of its development is that it is not yet reliable and safe. When automated driving fails, or is limited, the autonomous mode disengages and the drivers are expected to resume manual driving. For this transition to occur safely, it is imperative that drivers react in an appropriate and timely manner. Recent data released from the California trials provide compelling insights into the current factors influencing disengagements of autonomous mode. Here we show that the number of accidents observed has a significantly high correlation with the autonomous miles travelled. The reaction times to take control of the vehicle in the event of a disengagement was found to have a stable distribution across different companies at 0.83 seconds on average. However, there were differences observed in reaction times based on the type of disengagements, type of roadway and autonomous miles travelled. Lack of trust caused by the exposure to automated disengagements was found to increase the likelihood to take control of the vehicle manually. Further, with increased vehicle miles travelled the reaction times were found to increase, which suggests an increased level of trust with more vehicle miles travelled. We believe that this research would provide insurers, planners, traffic management officials and engineers fundamental insights into trust and reaction times that would help them design and engineer their systems.

  5. Autonomous Vehicles: Disengagements, Accidents and Reaction Times

    Science.gov (United States)

    Dixit, Vinayak V.; Chand, Sai; Nair, Divya J.

    2016-01-01

    Autonomous vehicles are being viewed with scepticism in their ability to improve safety and the driving experience. A critical issue with automated driving at this stage of its development is that it is not yet reliable and safe. When automated driving fails, or is limited, the autonomous mode disengages and the drivers are expected to resume manual driving. For this transition to occur safely, it is imperative that drivers react in an appropriate and timely manner. Recent data released from the California trials provide compelling insights into the current factors influencing disengagements of autonomous mode. Here we show that the number of accidents observed has a significantly high correlation with the autonomous miles travelled. The reaction times to take control of the vehicle in the event of a disengagement was found to have a stable distribution across different companies at 0.83 seconds on average. However, there were differences observed in reaction times based on the type of disengagements, type of roadway and autonomous miles travelled. Lack of trust caused by the exposure to automated disengagements was found to increase the likelihood to take control of the vehicle manually. Further, with increased vehicle miles travelled the reaction times were found to increase, which suggests an increased level of trust with more vehicle miles travelled. We believe that this research would provide insurers, planners, traffic management officials and engineers fundamental insights into trust and reaction times that would help them design and engineer their systems. PMID:27997566

  6. Robustness of Supercavitating Vehicles Based on Multistability Analysis

    Directory of Open Access Journals (Sweden)

    Yipin Lv

    2017-01-01

    Full Text Available Supercavity can increase speed of underwater vehicles greatly. However, external interferences always lead to instability of vehicles. This paper focuses on robustness of supercavitating vehicles. Based on a 4-dimensional dynamic model, the existence of multistability is verified in supercavitating system through simulation, and the robustness of vehicles varying with parameters is analyzed by basins of attraction. Results of the research disclose that the supercavitating system has three stable states in some regions of parameters space, namely, stable, periodic, and chaotic states, while in other regions it has various multistability, such as coexistence of two types of stable equilibrium points, coexistence of a limit cycle with a chaotic attractor, and coexistence of 1-periodic cycle with 2-periodic cycle. Provided that cavitation number varies within a small range, with increase of the feedback control gain of fin deflection angle, size of basin of attraction becomes smaller and robustness of the system becomes weaker. In practical application, robustness of supercavitating vehicles can be improved by setting parameters of system or adjusting initial launching conditions.

  7. Synthesis of the adaptive continuous system for the multi-axle wheeled vehicle body oscillation damping

    Science.gov (United States)

    Zhileykin, M. M.; Kotiev, G. O.; Nagatsev, M. V.

    2018-02-01

    In order to meet the growing mobility requirements for the wheeled vehicles on all types of terrain the engineers have to develop a large number of specialized control algorithms for the multi-axle wheeled vehicle (MWV) suspension improving such qualities as ride comfort, handling and stability. The authors have developed an adaptive algorithm of the dynamic damping of the MVW body oscillations. The algorithm provides high ride comfort and high mobility of the vehicle. The article discloses a method for synthesis of an adaptive dynamic continuous algorithm of the MVW body oscillation damping and provides simulation results proving high efficiency of the developed control algorithm.

  8. Multi-Objective Trajectory Optimization of a Hypersonic Reconnaissance Vehicle with Temperature Constraints

    Science.gov (United States)

    Masternak, Tadeusz J.

    This research determines temperature-constrained optimal trajectories for a scramjet-based hypersonic reconnaissance vehicle by developing an optimal control formulation and solving it using a variable order Gauss-Radau quadrature collocation method with a Non-Linear Programming (NLP) solver. The vehicle is assumed to be an air-breathing reconnaissance aircraft that has specified takeoff/landing locations, airborne refueling constraints, specified no-fly zones, and specified targets for sensor data collections. A three degree of freedom scramjet aircraft model is adapted from previous work and includes flight dynamics, aerodynamics, and thermal constraints. Vehicle control is accomplished by controlling angle of attack, roll angle, and propellant mass flow rate. This model is incorporated into an optimal control formulation that includes constraints on both the vehicle and mission parameters, such as avoidance of no-fly zones and coverage of high-value targets. To solve the optimal control formulation, a MATLAB-based package called General Pseudospectral Optimal Control Software (GPOPS-II) is used, which transcribes continuous time optimal control problems into an NLP problem. In addition, since a mission profile can have varying vehicle dynamics and en-route imposed constraints, the optimal control problem formulation can be broken up into several "phases" with differing dynamics and/or varying initial/final constraints. Optimal trajectories are developed using several different performance costs in the optimal control formulation: minimum time, minimum time with control penalties, and maximum range. The resulting analysis demonstrates that optimal trajectories that meet specified mission parameters and constraints can be quickly determined and used for larger-scale operational and campaign planning and execution.

  9. Vehicle Dynamics due to Magnetic Launch Propulsion

    Science.gov (United States)

    Galaboff, Zachary J.; Jacobs, William; West, Mark E.; Montenegro, Justino (Technical Monitor)

    2000-01-01

    The field of Magnetic Levitation Lind Propulsion (MagLev) has been around for over 30 years, primarily in high-speed rail service. In recent years, however, NASA has been looking closely at MagLev as a possible first stage propulsion system for spacecraft. This approach creates a variety of new problems that don't currently exist with the present MagLev trains around the world. NASA requires that a spacecraft of approximately 120,000 lbs be accelerated at two times the acceleration of gravity (2g's). This produces a greater demand on power over the normal MagLev trains that accelerate at around 0.1g. To be able to store and distribute up to 3,000 Mega Joules of energy in less than 10 seconds is a technical challenge. Another problem never addressed by the train industry and, peculiar only to NASA, is the control of a lifting body through the acceleration of and separation from the MagLev track. Very little is understood about how a lifting body will react with external forces, Such as wind gusts and ground effects, while being propelled along on soft springs such as magnetic levitators. Much study needs to be done to determine spacecraft control requirements as well as what control mechanisms and aero-surfaces should be placed on the carrier. Once the spacecraft has been propelled down the track another significant event takes place, the separation of the spacecraft from the carrier. The dynamics involved for both the carrier and the spacecraft are complex and coupled. Analysis of the reaction of the carrier after losing, a majority of its mass must be performed to insure control of the carrier is maintained and a safe separation of the spacecraft is achieved. The spacecraft angle of attack required for lift and how it will affect the carriage just prior to separation, along with the impacts of around effect and aerodynamic forces at ground level must be modeled and analyzed to define requirements on the launch vehicle design. Mechanisms, which can withstand the

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

    Science.gov (United States)

    Tanaka, K; Kosaki, T

    1997-01-01

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

  11. A multi-criteria decision aid methodology to design electric vehicles public charging networks

    Directory of Open Access Journals (Sweden)

    João Raposo

    2015-05-01

    Full Text Available This article presents a new multi-criteria decision aid methodology, dynamic-PROMETHEE, here used to design electric vehicle charging networks. In applying this methodology to a Portuguese city, results suggest that it is effective in designing electric vehicle charging networks, generating time and policy based scenarios, considering offer and demand and the city’s urban structure. Dynamic-PROMETHE adds to the already known PROMETHEE’s characteristics other useful features, such as decision memory over time, versatility and adaptability. The case study, used here to present the dynamic-PROMETHEE, served as inspiration and base to create this new methodology. It can be used to model different problems and scenarios that may present similar requirement characteristics.

  12. A multi-criteria decision aid methodology to design electric vehicles public charging networks

    Science.gov (United States)

    Raposo, João; Rodrigues, Ana; Silva, Carlos; Dentinho, Tomaz

    2015-05-01

    This article presents a new multi-criteria decision aid methodology, dynamic-PROMETHEE, here used to design electric vehicle charging networks. In applying this methodology to a Portuguese city, results suggest that it is effective in designing electric vehicle charging networks, generating time and policy based scenarios, considering offer and demand and the city's urban structure. Dynamic-PROMETHE adds to the already known PROMETHEE's characteristics other useful features, such as decision memory over time, versatility and adaptability. The case study, used here to present the dynamic-PROMETHEE, served as inspiration and base to create this new methodology. It can be used to model different problems and scenarios that may present similar requirement characteristics.

  13. 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...

  14. Vehicle dynamics modeling and simulation

    CERN Document Server

    Schramm, Dieter; Bardini, Roberto

    2014-01-01

    The authors examine in detail the fundamentals and mathematical descriptions of the dynamics of automobiles. In this context different levels of complexity will be presented, starting with basic single-track models up to complex three-dimensional multi-body models. A particular focus is on the process of establishing mathematical models on the basis of real cars and the validation of simulation results. The methods presented are explained in detail by means of selected application scenarios.

  15. Autonomous vehicles: from paradigms to technology

    Science.gov (United States)

    Ionita, Silviu

    2017-10-01

    Mobility is a basic necessity of contemporary society and it is a key factor in global economic development. The basic requirements for the transport of people and goods are: safety and duration of travel, but also a number of additional criteria are very important: energy saving, pollution, passenger comfort. Due to advances in hardware and software, automation has penetrated massively in transport systems both on infrastructure and on vehicles, but man is still the key element in vehicle driving. However, the classic concept of ‘human-in-the-loop’ in terms of ‘hands on’ in driving the cars is competing aside from the self-driving startups working towards so-called ‘Level 4 autonomy’, which is defined as “a self-driving system that does not requires human intervention in most scenarios”. In this paper, a conceptual synthesis of the autonomous vehicle issue is made in connection with the artificial intelligence paradigm. It presents a classification of the tasks that take place during the driving of the vehicle and its modeling from the perspective of traditional control engineering and artificial intelligence. The issue of autonomous vehicle management is addressed on three levels: navigation, movement in traffic, respectively effective maneuver and vehicle dynamics control. Each level is then described in terms of specific tasks, such as: route selection, planning and reconfiguration, recognition of traffic signs and reaction to signaling and traffic events, as well as control of effective speed, distance and direction. The approach will lead to a better understanding of the way technology is moving when talking about autonomous cars, smart/intelligent cars or intelligent transport systems. Keywords: self-driving vehicle, artificial intelligence, deep learning, intelligent transport systems.

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

    Science.gov (United States)

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

    2016-11-01

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

  17. Metrological approach to the force exerted by the axle of a road vehicle in motion carrying liquid

    International Nuclear Information System (INIS)

    Faruolo, Luciano Bruno; Pinto, Fernando Augusto de Noronha Castro

    2016-01-01

    Weigh-in-motion (WIM) systems are used for identifying the dynamic force exerted on the ground by axles of a vehicle. These systems are important for monitoring the gross vehicle weight and the vehicle axle load. Overweighted trucks on the roads increase pavement damage and traffic accidents. Knowing the accuracy of WIM systems is necessary. In the case of liquid transport the ‘sloshing effect’ affects this accuracy. This paper aims to analyze the dynamic measurement of the axle forces in vehicles carrying liquid during WIM up to 6 km h −1 . Laboratory experiments using one vehicle with six axles and liquid loads on different levels in weighing instruments are presented. A non-linear computational multi-mass-springs model was developed and laboratory experiments were carried out to show the acceleration influences on axle forces of vehicles with six axles and with and without baffles to vary the ‘sloshing effect’. (paper)

  18. Vehicle - Bridge interaction, comparison of two computing models

    Science.gov (United States)

    Melcer, Jozef; Kuchárová, Daniela

    2017-07-01

    The paper presents the calculation of the bridge response on the effect of moving vehicle moves along the bridge with various velocities. The multi-body plane computing model of vehicle is adopted. The bridge computing models are created in two variants. One computing model represents the bridge as the Bernoulli-Euler beam with continuously distributed mass and the second one represents the bridge as the lumped mass model with 1 degrees of freedom. The mid-span bridge dynamic deflections are calculated for both computing models. The results are mutually compared and quantitative evaluated.

  19. Combustion Efficiency, Flameout Operability Limits and General Design Optimization for Integrated Ramjet-Scramjet Hypersonic Vehicles

    Science.gov (United States)

    Mbagwu, Chukwuka Chijindu

    High speed, air-breathing hypersonic vehicles encounter a varied range of engine and operating conditions traveling along cruise/ascent missions at high altitudes and dynamic pressures. Variations of ambient pressure, temperature, Mach number, and dynamic pressure can affect the combustion conditions in conflicting ways. Computations were performed to understand propulsion tradeoffs that occur when a hypersonic vehicle travels along an ascent trajectory. Proper Orthogonal Decomposition methods were applied for the reduction of flamelet chemistry data in an improved combustor model. Two operability limits are set by requirements that combustion efficiency exceed selected minima and flameout be avoided. A method for flameout prediction based on empirical Damkohler number measurements is presented. Operability limits are plotted that define allowable flight corridors on an altitude versus flight Mach number performance map; fixed-acceleration ascent trajectories were considered for this study. Several design rules are also presented for a hypersonic waverider with a dual-mode scramjet engine. Focus is placed on ''vehicle integration" design, differing from previous ''propulsion-oriented" design optimization. The well-designed waverider falls between that of an aircraft (high lift-to-drag ratio) and a rocket (high thrust-to-drag ratio). 84 variations of an X-43-like vehicle were run using the MASIV scramjet reduced order model to examine performance tradeoffs. Informed by the vehicle design study, variable-acceleration trajectory optimization was performed for three constant dynamic pressures ascents. Computed flameout operability limits were implemented as additional constraints to the optimization problem. The Michigan-AFRL Scramjet In-Vehicle (MASIV) waverider model includes finite-rate chemistry, applied scaling laws for 3-D turbulent mixing, ram-scram transition and an empirical value of the flameout Damkohler number. A reduced-order modeling approach is justified

  20. 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.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2010-10-15

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

  2. Experimental Autonomous Road Vehicle with Logical Artificial Intelligence

    Directory of Open Access Journals (Sweden)

    Sergey Sergeevich Shadrin

    2017-01-01

    Full Text Available This article describes some technical issues regarding the adaptation of a production car to a platform for the development and testing of autonomous driving technologies. A universal approach to performing the reverse engineering of electric power steering (EPS for the purpose of external control is also presented. The primary objective of the related study was to solve the problem associated with the precise prediction of the dynamic trajectory of an autonomous vehicle. This was accomplished by deriving a new equation for determining the lateral tire forces and adjusting some of the vehicle parameters under road test conductions. A Mivar expert system was also integrated into the control system of the experimental autonomous vehicle. The expert system was made more flexible and effective for the present application by the introduction of hybrid artificial intelligence with logical reasoning. The innovation offers a solution to the major problem of liability in the event of an autonomous transport vehicle being involved in a collision.

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

    DEFF Research Database (Denmark)

    Jouffroy, Jerome

    2009-01-01

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

  4. Vehicle Sideslip Angle Estimation Based on Hybrid Kalman Filter

    Directory of Open Access Journals (Sweden)

    Jing Li

    2016-01-01

    Full Text Available Vehicle sideslip angle is essential for active safety control systems. This paper presents a new hybrid Kalman filter to estimate vehicle sideslip angle based on the 3-DoF nonlinear vehicle dynamic model combined with Magic Formula tire model. The hybrid Kalman filter is realized by combining square-root cubature Kalman filter (SCKF, which has quick convergence and numerical stability, with square-root cubature based receding horizon Kalman FIR filter (SCRHKF, which has robustness against model uncertainty and temporary noise. Moreover, SCKF and SCRHKF work in parallel, and the estimation outputs of two filters are merged by interacting multiple model (IMM approach. Experimental results show the accuracy and robustness of the hybrid Kalman filter.

  5. ECCOMAS Thematic Conference on Multibody Dynamics

    CERN Document Server

    Multibody Dynamics : Computational Methods and Applications

    2016-01-01

    This book includes selected papers from the ECCOMAS Thematic Conference on Multibody Dynamics, that took place in Barcelona, Spain, from June 29 to July 2, 2015. By having its origin in analytical and continuum mechanics, as well as in computer science and applied mathematics, multibody dynamics provides a basis for analysis and virtual prototyping of innovative applications in many fields of contemporary engineering. With the utilization of computational models and algorithms that classically belonged to different fields of applied science, multibody dynamics delivers reliable simulation platforms for diverse highly-developed industrial products such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, smart structures, biomechanical systems,and nanotechnologies.

  6. Dynamic analysis of rail vehicle axle

    Indian Academy of Sciences (India)

    In the study of Yagiz & Gursel (2005), the vertical and angular vibrations of the .... Figure 6. Variation of dynamic forces versus speed related to way conditions. ... analysed due to spring stiffness and railway quality and passenger coach load.

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

    Science.gov (United States)

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

    1999-01-01

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

  8. Accelerated Lane-Changing Trajectory Planning of Automated Vehicles with Vehicle-to-Vehicle Collaboration

    Directory of Open Access Journals (Sweden)

    Haijian Bai

    2017-01-01

    Full Text Available Considering the complexity of lane changing using automated vehicles and the frequency of turning lanes in city settings, this paper aims to generate an accelerated lane-changing trajectory using vehicle-to-vehicle collaboration (V2VC. Based on the characteristics of accelerated lane changing, we used a polynomial method and cooperative strategies for trajectory planning to establish a lane-changing model under different degrees of collaboration with the following vehicle in the target lane by considering vehicle kinematics and comfort requirements. Furthermore, considering the shortcomings of the traditional elliptical vehicle and round vehicle models, we established a rectangular vehicle model with collision boundary conditions by analysing the relationships between the possible collision points and the outline of the vehicle. Then, we established a simulation model for the accelerated lane-changing process in different environments under different degrees of collaboration. The results show that, by using V2VC, we can achieve safe accelerated lane-changing trajectories and simultaneously satisfy the requirements of vehicle kinematics and comfort control.

  9. A Neural Network Approach to Fluid Quantity Measurement in Dynamic Environments

    CERN Document Server

    Terzic, Edin; Nagarajah, Romesh; Alamgir, Muhammad

    2012-01-01

    Sloshing causes liquid to fluctuate, making accurate level readings difficult to obtain in dynamic environments. The measurement system described uses a single-tube capacitive sensor to obtain an instantaneous level reading of the fluid surface, thereby accurately determining the fluid quantity in the presence of slosh. A neural network based classification technique has been applied to predict the actual quantity of the fluid contained in a tank under sloshing conditions.   In A neural network approach to fluid quantity measurement in dynamic environments, effects of temperature variations and contamination on the capacitive sensor are discussed, and the authors propose that these effects can also be eliminated with the proposed neural network based classification system. To examine the performance of the classification system, many field trials were carried out on a running vehicle at various tank volume levels that range from 5 L to 50 L. The effectiveness of signal enhancement on the neural network base...

  10. Autonomous Navigation for Autonomous Underwater Vehicles Based on Information Filters and Active Sensing

    Directory of Open Access Journals (Sweden)

    Tianhong Yan

    2011-11-01

    Full Text Available This paper addresses an autonomous navigation method for the autonomous underwater vehicle (AUV C-Ranger applying information-filter-based simultaneous localization and mapping (SLAM, and its sea trial experiments in Tuandao Bay (Shangdong Province, P.R. China. Weak links in the information matrix in an extended information filter (EIF can be pruned to achieve an efficient approach-sparse EIF algorithm (SEIF-SLAM. All the basic update formulae can be implemented in constant time irrespective of the size of the map; hence the computational complexity is significantly reduced. The mechanical scanning imaging sonar is chosen as the active sensing device for the underwater vehicle, and a compensation method based on feedback of the AUV pose is presented to overcome distortion of the acoustic images due to the vehicle motion. In order to verify the feasibility of the navigation methods proposed for the C-Ranger, a sea trial was conducted in Tuandao Bay. Experimental results and analysis show that the proposed navigation approach based on SEIF-SLAM improves the accuracy of the navigation compared with conventional method; moreover the algorithm has a low computational cost when compared with EKF-SLAM.

  11. Autonomous navigation for autonomous underwater vehicles based on information filters and active sensing.

    Science.gov (United States)

    He, Bo; Zhang, Hongjin; Li, Chao; Zhang, Shujing; Liang, Yan; Yan, Tianhong

    2011-01-01

    This paper addresses an autonomous navigation method for the autonomous underwater vehicle (AUV) C-Ranger applying information-filter-based simultaneous localization and mapping (SLAM), and its sea trial experiments in Tuandao Bay (Shangdong Province, P.R. China). Weak links in the information matrix in an extended information filter (EIF) can be pruned to achieve an efficient approach-sparse EIF algorithm (SEIF-SLAM). All the basic update formulae can be implemented in constant time irrespective of the size of the map; hence the computational complexity is significantly reduced. The mechanical scanning imaging sonar is chosen as the active sensing device for the underwater vehicle, and a compensation method based on feedback of the AUV pose is presented to overcome distortion of the acoustic images due to the vehicle motion. In order to verify the feasibility of the navigation methods proposed for the C-Ranger, a sea trial was conducted in Tuandao Bay. Experimental results and analysis show that the proposed navigation approach based on SEIF-SLAM improves the accuracy of the navigation compared with conventional method; moreover the algorithm has a low computational cost when compared with EKF-SLAM.

  12. 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

  13. 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.

  14. Incorporating moving dynamic tyre loads in pavement design and analysis

    CSIR Research Space (South Africa)

    Steyn, WJvdM

    2000-07-01

    Full Text Available at the University of Pretoria. 4 REAL LIFE TYRE LOADS Characterisation Pavement loading has been shown by various authors to be a dynamic (time-dependent) phenomenon (Divine, 1997; Cebon, 1999). A pavement experiences a vehicle as a moving, time-varying set... frequencies. Body bounce generally dominates the dynamic loading, and is mainly caused by the response of the sprung mass of the vehicle to the pavement roughness. Axle hop becomes more significant at higher vehicle speeds and higher pavement roughnesses...

  15. Study protocol for the recreational stimulation for elders as a vehicle to resolve delirium superimposed on dementia (Reserve For DSD trial

    Directory of Open Access Journals (Sweden)

    Leslie Doug

    2011-05-01

    Full Text Available Abstract Background Delirium is a state of confusion characterized by an acute and fluctuating decline in cognitive functioning. Delirium is common and deadly in older adults with dementia, and is often referred to as delirium superimposed on dementia, or DSD. Interventions that treat DSD are not well-developed because the mechanisms involved in its etiology are not completely understood. We have developed a theory-based intervention for DSD that is derived from the literature on cognitive reserve and based on our prior interdisciplinary work on delirium, recreational activities, and cognitive stimulation in people with dementia. Our preliminary work indicate that use of simple, cognitively stimulating activities may help resolve delirium by helping to focus inattention, the primary neuropsychological deficit in delirium. Our primary aim in this trial is to test the efficacy of Recreational Stimulation for Elders as a Vehicle to resolve DSD (RESERVE- DSD. Methods/Design This randomized repeated measures clinical trial will involve participants being recruited and enrolled at the time of admission to post acute care. We will randomize 256 subjects to intervention (RESERVE-DSD or control (usual care. Intervention subjects will receive 30-minute sessions of tailored cognitively stimulating recreational activities for up to 30 days. We hypothesize that subjects who receive RESERVE-DSD will have: decreased severity and duration of delirium; greater gains in attention, orientation, memory, abstract thinking, and executive functioning; and greater gains in physical function compared to subjects with DSD who receive usual care. We will also evaluate potential moderators of intervention efficacy (lifetime of complex mental activities and APOE status. Our secondary aim is to describe the costs associated with RESERVE-DSD. Discussion Our theory-based intervention, which uses simple, inexpensive recreational activities for delivering cognitive stimulation

  16. Estimation of road profile variability from measured vehicle responses

    Science.gov (United States)

    Fauriat, W.; Mattrand, C.; Gayton, N.; Beakou, A.; Cembrzynski, T.

    2016-05-01

    When assessing the statistical variability of fatigue loads acting throughout the life of a vehicle, the question of the variability of road roughness naturally arises, as both quantities are strongly related. For car manufacturers, gathering information on the environment in which vehicles evolve is a long and costly but necessary process to adapt their products to durability requirements. In the present paper, a data processing algorithm is proposed in order to estimate the road profiles covered by a given vehicle, from the dynamic responses measured on this vehicle. The algorithm based on Kalman filtering theory aims at solving a so-called inverse problem, in a stochastic framework. It is validated using experimental data obtained from simulations and real measurements. The proposed method is subsequently applied to extract valuable statistical information on road roughness from an existing load characterisation campaign carried out by Renault within one of its markets.

  17. Developing a Blended Type Course of Introduction to Hybrid Vehicles

    Directory of Open Access Journals (Sweden)

    Na Zhu

    2016-02-01

    Full Text Available An innovative course of introduction to hybrid vehicles is developed for both associate and bachelor degree programs for engineering technology with automotive/mechanical concentration. The hybrid vehicle course content includes several topics, such as the rational of pure electric vehicle and hybrid vehicle, hybrid vehicle propulsion systems, fundamentals of motor/generator systems, fundamentals of battery and energy management system, and introduction to various configurations of hybrid vehicle systems available in market and under development. Hybrid vehicle technology is a new area and developed rapidly in the field of automotive and mechanical engineering. Students need not only the fundamentals and concepts from college, but also the ability to keep up with the latest technology after their graduation. Therefore, a blended course type is employed to help students have a better understanding of the fundamentals of hybrid vehicle and developing their self-studying ability. Topics in the course have three steps of learning. Firstly, on-ground lecture is given in class, where the instructor explains basic knowledge, such as principles, equations, and design rules.  In this way, the students will have enough background knowledge and be able to conduct further self-reading and research work. Secondly, students are required to go to university’s desire to learn (D2L online system and finish the online part of the topic. In the D2L system, students will find a quiz and its supporting materials. Thirdly, students come back to the on-ground lecture and discuss the quiz in groups with instructor. After the discussion, the instructor gives students a conclusion of the topic and moves forward to the next topic. A computer simulation class is also given to help student better understand the operation strategies of the hybrid vehicle systems and have a trial of design of hybrid vehicle.

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

    Science.gov (United States)

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

    2010-07-01

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

  19. Conference on Multibody Dynamics

    CERN Document Server

    Multibody Dynamics : Computational Methods and Applications

    2014-01-01

    By having its origin in analytical and continuum mechanics, as well as in computer science and applied mathematics, multibody dynamics provides a basis for analysis and virtual prototyping of innovative applications in many fields of contemporary engineering. With the utilization of computational models and algorithms that classically belonged to different fields of applied science, multibody dynamics delivers reliable simulation platforms for diverse highly-developed industrial products such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, smart structures, biomechanical applications and nano-technologies. The chapters of this volume are based on the revised and extended versions of the selected scientific papers from amongst 255 original contributions that have been accepted to be presented within the program of the distinguished international ECCOMAS conference. It reflects state-of-the-art in the advances of multibody dynamics, providing excellent insight in the recen...

  20. Rail Vehicle Vibrations Control Using Parameters Adaptive PID Controller

    Directory of Open Access Journals (Sweden)

    Muzaffer Metin

    2014-01-01

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

  1. Simulation on Vehicle Vibration Offset of NX70 Flatcar

    Directory of Open Access Journals (Sweden)

    Han Yanhui

    2014-11-01

    Full Text Available The current rolling stock gauge for standard gauge railway is a static gauge to check the vehicle frame. The contradiction of large construction gauge and small rolling stock gauge has always existed. It is important to set down the clearance requirements in respect of physical size for the safe passage of rail vehicles. Reasonably determining the maximum vibration offset can improve the efficiency of clearance. As an example, analyze the complex vibration of NX70 flat car by simulation test on the running track. Comprehensive considering the track model, loading plan, line conditions and running speed, then SIMPACK is used to present the vehicle system dynamics simulation model. After researching simulation result, respectively determine the maximum vehicle vibration offset for railroads of Class I, Class II and Class III on the height of the center of gravity 2000 mm and 2400 mm. According to the clearance between the structure gauge and the position of maximum vibration offset, analyze the safety of vehicle operation since the center of gravity is higher than before.

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

    Directory of Open Access Journals (Sweden)

    Felipe Jiménez

    2016-01-01

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

  3. New TA Index-Based Rollover Prevention System for Electric Vehicles

    OpenAIRE

    Xiang Liu; Min Xu; Mian Li

    2015-01-01

    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 EV...

  4. Effects of vehicle power on passenger vehicle speeds.

    Science.gov (United States)

    McCartt, Anne T; Hu, Wen

    2017-07-04

    During the past 2 decades, there have been large increases in mean horsepower and the mean horsepower-to-vehicle weight ratio for all types of new passenger vehicles in the United States. This study examined the relationship between travel speeds and vehicle power, defined as horsepower per 100 pounds of vehicle weight. Speed cameras measured travel speeds and photographed license plates and drivers of passenger vehicles traveling on roadways in Northern Virginia during daytime off-peak hours in spring 2013. The driver licensing agencies in the District of Columbia, Maryland, and Virginia provided vehicle information numbers (VINs) by matching license plate numbers with vehicle registration records and provided the age, gender, and ZIP code of the registered owner(s). VINs were decoded to obtain the curb weight and horsepower of vehicles. The study focused on 26,659 observed vehicles for which information on horsepower was available and the observed age and gender of drivers matched vehicle registration records. Log-linear regression estimated the effects of vehicle power on mean travel speeds, and logistic regression estimated the effects of vehicle power on the likelihood of a vehicle traveling over the speed limit and more than 10 mph over the limit. After controlling for driver characteristics, speed limit, vehicle type, and traffic volume, a 1-unit increase in vehicle power was associated with a 0.7% increase in mean speed, a 2.7% increase in the likelihood of a vehicle exceeding the speed limit by any amount, and an 11.6% increase in the likelihood of a vehicle exceeding the limit by 10 mph. All of these increases were highly significant. Speeding persists as a major factor in crashes in the United States. There are indications that travel speeds have increased in recent years. The current findings suggest the trend toward substantially more powerful vehicles may be contributing to higher speeds. Given the strong association between travel speed and crash

  5. On Motion Planning for Point-to-Point Maneuvers for a Class of Sailing Vehicles

    DEFF Research Database (Denmark)

    Xiao, Lin; Jouffroy, Jerome

    2011-01-01

    Despite their interesting dynamic and controllability properties, sailing vehicles have not been much studied in the control community. In this paper, we investigate motion planning of such vehicles. Starting from a simple dynamic model of sailing vessels in one dimension, this paper first...... considers their associated controllability issues, with the so-called no-sailing zone as a starting point, and it links them with a motion planning strategy using two-point boundary value problems as the main mathematical tool. This perspective is then expanded to do point-to-point maneuvers of sailing...

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

    Science.gov (United States)

    Zhang, Chuanwei; Zhang, Dongsheng; Wen, Jianping

    2018-02-01

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

  7. Nonlinear Dynamic Analysis of Telescopic Mechanism for Truss Structure Bridge Inspection Vehicle Under Pedestrian Excitation

    Directory of Open Access Journals (Sweden)

    Wenwen Sui

    Full Text Available Abstract Nonlinear dynamic analysis of an axially moving telescopic mechanism for truss structure bridge inspection vehicle under pedestrian excitation is carried out. A biomechanically inspired inverted-pendulum model is utilized to simplify the pedestrian. The nonlinear equations of motion for the beam-pedestrian system are derived using the Hamilton's principle. The equations are transformed into two ordinary differential equations by applying the Galerkin's method at the first two orders. The solutions to the equations are acquired by using the Newmark-β method associated with the Newton-Raphson method. The time-dependent feature of the eigenfunctions for the two beams are taken into consideration in the solutions. Accordingly, the equations of motion for a simplified system, in which the pedestrian is regarded as moving cart, are given. In the numerical examples, dynamic responses of the telescopic mechanism in eight conditions of different beam-telescoping and pedestrian-moving directions are simulated. Comparisons between the vibrations of the beams under pedestrian excitation and corresponding moving cart are carried out to investigate the influence of the pedestrian excitation on the telescopic mechanism. The results show that the displacement of the telescopic mechanism under pedestrian excitation is smaller than that under moving cart especially when the pedestrian approaches the beams end. Additionally, compared with moving cart, the pedestrian excitation can effectively strengthen the vibration when the beam extension is small or when the pedestrian is close to the beams end.

  8. A Review of Vehicle to Vehicle Communication Protocols for VANETs in the Urban Environment

    Directory of Open Access Journals (Sweden)

    Irshad Ahmed Abbasi

    2018-01-01

    Full Text Available Vehicular Ad-hoc Networks (VANETs have been gaining significant attention from the research community due to their increasing importance for building an intelligent transportation system. The characteristics of VANETs, such as high mobility, network partitioning, intermittent connectivity and obstacles in city environments, make routing a challenging task. Due to these characteristics of VANETs, the performance of a routing protocol is degraded. The position-based routing is considered to be the most significant approach in VANETs. In this paper, we present a brief review of most significant position based unicast routing protocols designed for vehicle to vehicle communications in the urban environment. We provide them with their working features for exchanging information between vehicular nodes. We describe their pros and cons. This study also provides a comparison of the vehicle to vehicle communication based routing protocols. The comparative study is based on some significant factors such as mobility, traffic density, forwarding techniques and method of junction selection mechanism, and strategy used to handle a local optimum situation. It also provides the simulation based study of existing dynamic junction selection routing protocols and a static junction selection routing protocol. It provides a profound insight into the routing techniques suggested in this area and the most valuable solutions to advance VANETs. More importantly, it can be used as a source of references to other researchers in finding literature that is relevant to routing in VANETs.

  9. The ironies of vehicle feedback in car design.

    Science.gov (United States)

    Walker, Guy H; Stanton, Neville A; Young, Mark S

    2006-02-10

    Car drivers show an acute sensitivity towards vehicle feedback, with most normal drivers able to detect 'the difference in vehicle feel of a medium-size saloon car with and without a fairly heavy passenger in the rear seat' (Joy and Hartley 1953-54). The irony is that this level of sensitivity stands in contrast to the significant changes in vehicle 'feel' accompanying modern trends in automotive design, such as drive-by-wire and increased automation. The aim of this paper is to move the debate from the anecdotal to the scientific level. This is achieved by using the Brunel University driving simulator to replicate some of these trends and changes by presenting (or removing) different forms of non-visual vehicle feedback, and measuring resultant driver situational awareness (SA) using a probe-recall method. The findings confirm that vehicle feedback plays a key role in coupling the driver to the dynamics of their environment (Moray 2004), with the role of auditory feedback particularly prominent. As a contrast, drivers in the study also rated their self-perceived levels of SA and a concerning dissociation occurred between the two sets of results. Despite the large changes in vehicle feedback presented in the simulator, and the measured changes in SA, drivers appeared to have little self-awareness of these changes. Most worryingly, drivers demonstrated little awareness of diminished SA. The issues surrounding vehicle feedback are therefore similar to the classic problems and ironies studied in aviation and automation, and highlight the role that ergonomics can also play within the domain of contemporary vehicle design.

  10. Interactive Safety Analysis Framework of Autonomous Intelligent Vehicles

    Directory of Open Access Journals (Sweden)

    Cui You Xiang

    2016-01-01

    Full Text Available More than 100,000 people were killed and around 2.6 million injured in road accidents in the People’s Republic of China (PRC, that is four to eight times that of developed countries, equivalent to 6.2 mortality per 10 thousand vehicles—the highest rate in the world. There are more than 1,700 fatalities and 840,000 injuries yearly due to vehicle crashes off public highways. In this paper, we proposed a interactive safety situation and threat analysis framework based on driver behaviour and vehicle dynamics risk analysis based on ISO26262…

  11. Rich Vehicle Routing Problems and Applications

    DEFF Research Database (Denmark)

    Wen, Min

    very short computational time on real-life data involving up to 200 pairs of suppliers and customers. The second problem we consider is a dynamic vehicle routing problem with multiple objectives over a planning horizon that consists of multiple periods. In this problem, customer orders are revealed...... the company’s solution in terms of all the objectives, including the travel time, customer waiting and daily workload balances, under the given constraints considered in the work. Finally, we address an integrated vehicle routing and driver scheduling problem, in which a large number of practical constraints....... The method is implemented and tested on real-life data involving up to 2000 orders. It is shown that the method is able to provide solutions of good quality within reasonable running time....

  12. Electric vehicle equipment for grid-integrated vehicles

    Science.gov (United States)

    Kempton, Willett

    2013-08-13

    Methods, systems, and apparatus for interfacing an electric vehicle with an electric power grid are disclosed. An exemplary apparatus may include a station communication port for interfacing with electric vehicle station equipment (EVSE), a vehicle communication port for interfacing with a vehicle management system (VMS), and a processor coupled to the station communication port and the vehicle communication port to establish communication with the EVSE via the station communication port, receive EVSE attributes from the EVSE, and issue commands to the VMS to manage power flow between the electric vehicle and the EVSE based on the EVSE attributes. An electric vehicle may interface with the grid by establishing communication with the EVSE, receiving the EVSE attributes, and managing power flow between the EVE and the grid based on the EVSE attributes.

  13. 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.

  14. Near-term electric-vehicle program. Phase II. Mid-term review summary report

    Energy Technology Data Exchange (ETDEWEB)

    1978-07-27

    The general objective of the Near-Term Electric Vehicle Program is to confirm that, in fact, the complete spectrum of requirements placed on the automobile (e.g., safety, producibility, utility, etc.) can still be satisfied if electric power train concepts are incorporated in lieu of contemporary power train concepts, and that the resultant set of vehicle characteristics are mutually compatible, technologically achievable, and economically achievable. The focus of the approach to meeting this general objective involves the design, development, and fabrication of complete electric vehicles incorporating, where necessary, extensive technological advancements. A mid-term summary is presented of Phase II which is a continuation of the preliminary design study conducted in Phase I of the program. Information is included on vehicle performance and performance simulation models; battery subsystems; control equipment; power systems; vehicle design and components for suspension, steering, and braking; scale model testing; structural analysis; and vehicle dynamics analysis. (LCL)

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

    Directory of Open Access Journals (Sweden)

    Duanfeng Chu

    2015-01-01

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

  16. The wheel-rail contact friction influence on high speed vehicle model stability

    Directory of Open Access Journals (Sweden)

    Mirosław DUSZA

    2015-09-01

    Full Text Available Right estimating of the coefficient of friction between the wheel and rail is essential in modelling rail vehicle dynamics. Constant value of coefficient of friction is the typical assumption in theoretical studies. But it is obvious that in real circumstances a few factors may have significant influence on the rails surface condition and this way on the coefficient of friction value. For example the weather condition, the railway location etc. Influence of the coefficient of friction changes on high speed rail vehicle model dynamics is presented in this paper. Four axle rail vehicle model were built. The FASTSIM code is employed for calculation of the tangential contact forces between wheel and rail. One coefficient of friction value is adopted in the particular simulation process. To check the vehicle model properties under the influence of wheel-rail coefficient of friction changes, twenty four series of simulations were performed. For three curved tracks of radii R = 3000m, 6000m and  (straight track, the coefficient of friction was changed from 0.1 to 0.8. The results are presented in form of bifurcation diagrams.

  17. Factors affecting speed in human-powered vehicles.

    Science.gov (United States)

    White, A P

    1994-10-01

    It is shown how to derive the appropriate cubic equation relating power and the effects of friction, gradient and wind resistance on the speed of a human-powered vehicle (HPV). The effects of gradient and wind resistance are explored for parameters representing a typical racing cyclist. The principal conclusion may be summarized as follows: for optimum performance in a time trial, there should be no wind and the course should be level. Any deviation from these conditions will produce a decrement in performance.

  18. Driverless vehicles; Automatisches Fahren

    Energy Technology Data Exchange (ETDEWEB)

    Goetting, H.H. [MSEE, Goetting KG, Lehrte (Germany)

    2000-07-01

    New sensor systems, radiocommunication and computer technology have speeded up progress in automation. Driverless vehicles are now feasible. They offer maximum mobility and driving comfort, arrival on time and with minimum environmental effects. Germany should make use of its technological advantage and start trial projects on public roads now. [German] Mit der neuen Sensor-, Funk- und Rechnertechnik ist Bewegung in die Automatisierung gekommen. Automatisches Fahren hat grosse Vorteile fuer unser Wirtschafts- und Sozialleben. Es bietet fuer uns alle ein hoechstes Mass an Mobilitaet, entspannter Bewegung, puenktlicher Ankunft, geringster Belastung fuer die Umwelt (weniger Kraftstoff, weniger Laerm, weniger Platzbedarf). Es ist jetzt entscheidend, dass wir unseren technologischen Vorsprung in Deutschland nutzen, und die ersten Erprobungsprojekte auf oeffentlichen Strassen starten. (orig.)

  19. 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.

  20. 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.