WorldWideScience

Sample records for vehicle front wheel

  1. 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.

  2. Development of a Cooperative Braking System for Front-Wheel Drive Electric Vehicles

    Directory of Open Access Journals (Sweden)

    Di Zhao

    2018-02-01

    Full Text Available Most electric vehicles adopt cooperative braking systems that can blend friction braking torque with regenerative braking torque to achieve higher energy efficiency while maintaining a certain braking performance and driving safety. This paper presented a new cooperative regenerative braking system that contained a fully-decoupled hydraulic braking mechanism based on a modified electric stability control system. The pressure control algorithm and brake force distribution strategy were also discussed. Dynamic models of a front wheel drive electric car equipped with this system and a simulation platform with a driver model and driving cycles were established. Tests to evaluate the braking performance and energy regeneration were simulated and analyzed on this platform and the simulation results showed the feasibility and effectiveness of this system.

  3. Comparison between two braking control methods integrating energy recovery for a two-wheel front driven electric vehicle

    International Nuclear Information System (INIS)

    Itani, Khaled; De Bernardinis, Alexandre; Khatir, Zoubir; Jammal, Ahmad

    2016-01-01

    Highlights: • Comparison between two braking methods for an EV maximizing the energy recovery. • Wheels slip ratio control based on robust sliding mode and ECE R13 control methods. • Regenerative braking control strategy. • Energy recovery of a HESS with respect to road surface type and road condition. - Abstract: This paper presents the comparison between two braking methods for a two-wheel front driven Electric Vehicle maximizing the energy recovery on the Hybrid Energy Storage System. The first method consists in controlling the wheels slip ratio while braking using a robust sliding mode controller. The second method will be based on ECE R13H constraints for an M1 passenger vehicle. The vehicle model used for simulation is a simplified five degrees of freedom model. It is driven by two 30 kW permanent magnet synchronous motor (PMSM) recovering energy during braking phases. Several simulation results for extreme braking conditions will be performed and compared on various road type surfaces using Matlab/Simulink®. For an initial speed of 80 km/h, simulation results demonstrate that the difference of energy recovery efficiency between the two control braking methods is beneficial to the ECE constraints control method and it can vary from 3.7% for high friction road type to 11.2% for medium friction road type. At low friction road type, the difference attains 6.6% due to different reasons treated in the paper. The stability deceleration is also discussed and detailed.

  4. General motors front wheel drive 2-mode hybrid transmission

    Energy Technology Data Exchange (ETDEWEB)

    Hendrickson, James [General Motors Corp., Pontiac, MI (United States). New Transmission Products Group.; Holmes, Alan G. [General Motors Corp., Pontiac, MI (United States). Powertrain Hybrid Architecture

    2009-07-01

    General Motors now expands the application of two-mode hybrid technology to front wheel drive vehicles with the development of a hybrid electric transmission packaged into essentially the same space as a conventional automatic transmission for front wheel drive. This was accomplished using a space-efficient arrangement based on two planetary gear sets and electric motor-generators with large internal diameters. A combination of damper and hydraulically-controlled clutch allow comfortable shutdown and restarting of large-displacement engines in front wheel drive vehicles. The hybrid system delivers electric low-speed urban driving, two continuously variable ranges of transmission speed ratios, four fixed transmission speed ratios, electric acceleration boosting, and regenerative braking. In the first vehicle application, the two-mode hybrid helps to reduce vehicle fuel consumption by approximately one-third. (orig.)

  5. Comparative analysis of two hybrid energy storage systems used in a two front wheel driven electric vehicle during extreme start-up and regenerative braking operations

    International Nuclear Information System (INIS)

    Itani, Khaled; De Bernardinis, Alexandre; Khatir, Zoubir; Jammal, Ahmad

    2017-01-01

    Highlights: • Comparison of HESS Ultracapacitor and Flywheel for maximizing EV energy recovery. • Energy recovery performed for extreme two front-wheel driven EV brake conditions. • Regenerative EV braking control strategies and constraints for HESS. • Comparative cost effectiveness for two HESS solutions Ultracapacitors and Flywheel. - Abstract: This paper presents the comparative study of two hybrid energy storage systems (HESS) of a two front wheel driven electric vehicle. The primary energy source of the HESS is a Li-Ion battery, whereas the secondary energy source is either an ultracapacitor (UC) or a flywheel energy system (FES). The main role of the secondary source is to deliver/recover energy during high peak power demand, but also to increase battery lifetime, considered among the most expensive items in the electric vehicle. As a first step, a techno-economic comparative study, supported by strong literature research, is performed between the UC and the FES. The design and sizing of each element will be presented. The comparison criteria and specifications are also described. The adopted approach in this paper is based on an academic non-oriented point of view. In a second step, each of the HESS will be integrated in a more global Simulink model which includes the vehicle model, the traction control system (TCS), the regenerative braking system and the vehicle actuators. Simulation tests are performed for an extreme braking and vehicle starting-up operations. Tests are realized on two different surface road types and conditions (high and low friction roads) and for different initial system states. In order to show the most appropriate storage system regarding compactness, weight and battery constraints minimization, deep comparative analysis is provided.

  6. Customer loads of two-wheeled vehicles

    Science.gov (United States)

    Gorges, C.; Öztürk, K.; Liebich, R.

    2017-12-01

    Customer usage profiles are the most unknown influences in vehicle design targets and they play an important role in durability analysis. This publication presents a customer load acquisition system for two-wheeled vehicles that utilises the vehicle's onboard signals. A road slope estimator was developed to reveal the unknown slope resistance force with the help of a linear Kalman filter. Furthermore, an automated mass estimator was developed to consider the correct vehicle loading. The mass estimation is performed by an extended Kalman filter. Finally, a model-based wheel force calculation was derived, which is based on the superposition of forces calculated from measured onboard signals. The calculated wheel forces were validated by measurements with wheel-load transducers through the comparison of rainflow matrices. The calculated wheel forces correspond with the measured wheel forces in terms of both quality and quantity. The proposed methods can be used to gather field data for improved vehicle design loads.

  7. Propulsion Wheel Motor for an Electric Vehicle

    Science.gov (United States)

    Figuered, Joshua M. (Inventor); Herrera, Eduardo (Inventor); Waligora, Thomas M. (Inventor); Bluethmann, William J. (Inventor); Farrell, Logan Christopher (Inventor); Lee, Chunhao J. (Inventor); Vitale, Robert L. (Inventor); Winn, Ross Briant (Inventor); Eggleston, IV, Raymond Edward (Inventor); Guo, Raymond (Inventor); hide

    2016-01-01

    A wheel assembly for an electric vehicle includes a wheel rim that is concentrically disposed about a central axis. A propulsion-braking module is disposed within an interior region of the wheel rim. The propulsion-braking module rotatably supports the wheel rim for rotation about the central axis. The propulsion-braking module includes a liquid cooled electric motor having a rotor rotatable about the central axis, and a stator disposed radially inside the rotor relative to the central axis. A motor-wheel interface hub is fixedly attached to the wheel rim, and is directly attached to the rotor for rotation with the rotor. The motor-wheel interface hub directly transmits torque from the electric motor to the wheel rim at a 1:1 ratio. The propulsion-braking module includes a drum brake system having an electric motor that rotates a cam device, which actuates the brake shoes.

  8. Four-Wheel Vehicle Suspension System

    Science.gov (United States)

    Bickler, Donald B.

    1990-01-01

    Four-wheel suspension system uses simple system of levers with no compliant components to provide three-point suspension of chassis of vehicle while maintaining four-point contact with uneven terrain. Provides stability against tipping of four-point rectangular base, without rocking contact to which rigid four-wheel frame susceptible. Similar to six-wheel suspension system described in "Articulated Suspension Without Springs" (NPO-17354).

  9. Tracked Vehicle Road Wheel Puller

    Science.gov (United States)

    2009-02-01

    employed for removing smaller-size components, such as bolts and the like. U.S. Patent No. 5,410,792, issued to Freeman (3), discloses a caster wheel ...separation of the rubberized annular layer from the outer annular surface of the wheel . Figure 5 further illustrates a modification of the wheel puller...2001. 2. Rubino et al. Pulling Tool. U.S. Patent 5,479,688, 1996. 3. Freeman. Caster Wheel Axle Extraction Apparatus. U.S. Patent 5,410,792

  10. Vehicle Mobility Assessment for Project Wheels Study Group

    Science.gov (United States)

    1972-07-01

    cash savings p’Asible through the elimination of special military automotive features, such as front-wheel 1 Idrive , or the use of commercial vehicles...E12. (12) off-,,,d mobiliY profile 4x4 0ruck, c 2Z4< 20 ,ernn It Iot "- III IIIII III I I I IIII A%. West Germany 0A * s ps ArizonazD • Ř’.. • D

  11. Stability Simulation of a Vehicle with Wheel Active Steering

    Directory of Open Access Journals (Sweden)

    Brabec Pavel

    2016-01-01

    Full Text Available This paper deals with the possibility of increasing the vehicle driving stability at a higher speed. One of the ways how to achieve higher stability is using the 4WS system. Mathematical description of vehicle general movement is a very complex task. For simulation, models which are aptly simplified are used. For the first approach, so-called single-truck vehicle model (often linear is usually used. For the simulation, we have chosen to extend the model into a two-truck one, which includes the possibility to input more vehicle parameters. Considering the 4WS system, it is possible to use a number of potential regulations. In our simulation model, the regulation system with compound coupling was used. This type of regulation turns the rear wheels depending on the input parameters of the system (steering angle of the front wheels and depending on the output moving quantities of the vehicle, most frequently the yaw rate. Criterion for compensation of lateral deflection centre of gravity angle is its zero value, or more precisely the zero value of its first-order derivative. Parameters and set-up of the simulation model were done in conjunction with the dSAPACE software. Reference performances of the vehicle simulation model were made through the defined manoeuvres. But the simulation results indicate that the rear-wheels steering can have a positive effect on the vehicle movement stability, especially when changing the driving direction at high speed.

  12. 2009 Tactical Wheeled Vehicles Conference (TWV)

    Science.gov (United States)

    2009-02-03

    fields. 5 ... Spent $265.2 Million in Reset of TWVs … or larger than the entire 2007 revenue of the Los Angeles Dodgers . ... Spent $265.2 Million in...Reset of T Vs or larger than the entire 2007 revenue of the Los Angeles Dodgers . ... Maintains over 29,000 Tactical Wheeled Vehicles in theater … or

  13. 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.

  14. Aerodynamic analysis of an isolated vehicle wheel

    Science.gov (United States)

    Leśniewicz, P.; Kulak, M.; Karczewski, M.

    2014-08-01

    Increasing fuel prices force the manufacturers to look into all aspects of car aerodynamics including wheels, tyres and rims in order to minimize their drag. By diminishing the aerodynamic drag of vehicle the fuel consumption will decrease, while driving safety and comfort will improve. In order to properly illustrate the impact of a rotating wheel aerodynamics on the car body, precise analysis of an isolated wheel should be performed beforehand. In order to represent wheel rotation in contact with the ground, presented CFD simulations included Moving Wall boundary as well as Multiple Reference Frame should be performed. Sliding mesh approach is favoured but too costly at the moment. Global and local flow quantities obtained during simulations were compared to an experiment in order to assess the validity of the numerical model. Results of investigation illustrates dependency between type of simulation and coefficients (drag and lift). MRF approach proved to be a better solution giving result closer to experiment. Investigation of the model with contact area between the wheel and the ground helps to illustrate the impact of rotating wheel aerodynamics on the car body.

  15. Aerodynamic analysis of an isolated vehicle wheel

    International Nuclear Information System (INIS)

    Leśniewicz, P; Kulak, M; Karczewski, M

    2014-01-01

    Increasing fuel prices force the manufacturers to look into all aspects of car aerodynamics including wheels, tyres and rims in order to minimize their drag. By diminishing the aerodynamic drag of vehicle the fuel consumption will decrease, while driving safety and comfort will improve. In order to properly illustrate the impact of a rotating wheel aerodynamics on the car body, precise analysis of an isolated wheel should be performed beforehand. In order to represent wheel rotation in contact with the ground, presented CFD simulations included Moving Wall boundary as well as Multiple Reference Frame should be performed. Sliding mesh approach is favoured but too costly at the moment. Global and local flow quantities obtained during simulations were compared to an experiment in order to assess the validity of the numerical model. Results of investigation illustrates dependency between type of simulation and coefficients (drag and lift). MRF approach proved to be a better solution giving result closer to experiment. Investigation of the model with contact area between the wheel and the ground helps to illustrate the impact of rotating wheel aerodynamics on the car body.

  16. Overarching Tactical Wheeled Vehicle Study

    Science.gov (United States)

    2001-08-31

    trailer. The PM, Transportation, provided existing LCCEs for the various systems in the Automated Cost Estimating Integrated Tool ( ACEIT ) format. The...Advanced Assault Amphibious Vehicle AAO Approved Acquisition Objective ACE Aviation Combat Element ACEIT Automated Cost Estimating Integrated Tool ALMC... ACEIT , SVLCCM, and CASA) using two different CESs, and estimated in three different constant budget dollar years (i.e., FY95, FY96, and FY01). A

  17. Wheel arch aerodynamics of a modern road vehicle

    International Nuclear Information System (INIS)

    Apsley, S.; Aroussi, A.

    2003-01-01

    A geometrically faithful model of the Aston Martin V12 Vanquish was formed in 3D CAD and used to perform an extensive CFD study into the airflow in and around the wheel arch of the vehicle. Parameters such as spin ratio, ground clearance, vertical and horizontal insertion into the wheel arch and the yaw angles experienced during cornering, were all under investigation. The additional aim of the research was to validate or refute the use of CFD as a tool in this complex area of fluid flow. This research serves to highlight a number of problems and potential solutions in the use of CFD. Meshing problems can be eliminated with increased computational power and suggestions have been made to improve the modeling of rotating boundaries that include radial features such as wheel spokes. Much of the CFD data ties well with previously conducted experimental work, if not numerically then in trend. Without additional physical validation however, it is difficult to ascertain the overall accuracy and usefulness of the remaining results, which have not yet been conducted in physical reality. Despite its limitations, the use of CFD permitted an extensive analysis in a comparatively short length of time and served to highlight potential areas for increased scrutiny. As an example, results from the final yaw angle case drew attention to a potential concern for aerodynamic destabilisation of the vehicle during cornering, generating lift on the front arch of the car that is already lifted due to cornering forces and body roll. (author)

  18. Analysis of traversable pits model to make intelligent wheeled vehicles

    Directory of Open Access Journals (Sweden)

    F. Abbasi

    2017-11-01

    Full Text Available In this paper, the issue of passing wheeled vehicles from pits is discussed. The issue is modeled by defining the limits of passing wheeled vehicles. The proposed model has been studied based on changes in the effective parameters. Finally, in order to describe the problem, the proposed model has been solved for wheeled vehicles based on the effective parameters by using one of the numerical methods.

  19. Cyber Security Considerations for Autonomous Tactical Wheeled Vehicles

    Science.gov (United States)

    2016-04-01

    Update Will Enable Autonomous Driving. Retrieved August 6, 2015, from http://spectrum.ieee.org/: http://spectrum.ieee.org/ cars -that-think...Cyber Security Considerations for Autonomous Tactical Wheeled Vehicles 1 UNCLASSIFIED Cyber Security Considerations for... Autonomous Tactical Wheeled Vehicles Sebastian C Iovannitti 4/1/2016 Submitted to Lawrence Technological University College of Management in

  20. Comparative Analysis of Lightweight Robotic Wheeled and Tracked Vehicle

    OpenAIRE

    Johnson, Christopher Patrick

    2012-01-01

    This study focuses on conducting a benchmarking analysis for light wheeled and tracked robotic vehicles. Vehicle mobility has long been a key aspect of research for many organizations. According to the Department of Defense vehicle mobility is defined as, "the overall capacity to move from place to place while retaining its ability to perform its primary mission"[1]. Until recently this definition has been applied exclusively to large scale wheeled and tracked vehicles. With new development l...

  1. Camber Angle Inspection for Vehicle Wheel Alignments.

    Science.gov (United States)

    Young, Jieh-Shian; Hsu, Hong-Yi; Chuang, Chih-Yuan

    2017-02-03

    This paper introduces an alternative approach to the camber angle measurement for vehicle wheel alignment. Instead of current commercial approaches that apply computation vision techniques, this study aims at realizing a micro-control-unit (MCU)-based camber inspection system with a 3-axis accelerometer. We analyze the precision of the inspection system for the axis misalignments of the accelerometer. The results show that the axes of the accelerometer can be aligned to the axes of the camber inspection system imperfectly. The calibrations that can amend these axis misalignments between the camber inspection system and the accelerometer are also originally proposed since misalignments will usually happen in fabrications of the inspection systems. During camber angle measurements, the x -axis or z -axis of the camber inspection system and the wheel need not be perfectly aligned in the proposed approach. We accomplished two typical authentic camber angle measurements. The results show that the proposed approach is applicable with a precision of ± 0.015 ∘ and therefore facilitates the camber measurement process without downgrading the precision by employing an appropriate 3-axis accelerometer. In addition, the measured results of camber angles can be transmitted via the medium such as RS232, Bluetooth, and Wi-Fi.

  2. Camber Angle Inspection for Vehicle Wheel Alignments

    Directory of Open Access Journals (Sweden)

    Jieh-Shian Young

    2017-02-01

    Full Text Available This paper introduces an alternative approach to the camber angle measurement for vehicle wheel alignment. Instead of current commercial approaches that apply computation vision techniques, this study aims at realizing a micro-control-unit (MCU-based camber inspection system with a 3-axis accelerometer. We analyze the precision of the inspection system for the axis misalignments of the accelerometer. The results show that the axes of the accelerometer can be aligned to the axes of the camber inspection system imperfectly. The calibrations that can amend these axis misalignments between the camber inspection system and the accelerometer are also originally proposed since misalignments will usually happen in fabrications of the inspection systems. During camber angle measurements, the x-axis or z-axis of the camber inspection system and the wheel need not be perfectly aligned in the proposed approach. We accomplished two typical authentic camber angle measurements. The results show that the proposed approach is applicable with a precision of ± 0.015 ∘ and therefore facilitates the camber measurement process without downgrading the precision by employing an appropriate 3-axis accelerometer. In addition, the measured results of camber angles can be transmitted via the medium such as RS232, Bluetooth, and Wi-Fi.

  3. 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”.

  4. A fully omnidirectional wheeled assembly for robotic vehicles

    International Nuclear Information System (INIS)

    Killough, S.M.; Pin, F.G.

    1990-01-01

    A large number of wheeled or tracked platform mechanisms have been studied and developed to provide their mobility capability to teleoperated and autonomous robot vehicles. This paper presents an original wheeled platform based on an orthogonal wheel assembly that provides a full (three-degrees-of-freedom) omnidirectionality of the platform without wheel slippage and with the capability for simultaneous motions in rotation and translation (including sideways movements). A schematic of the basic wheel assembly is shown. The motion of the assembly is unconstrained (freewheeling) in the direction parallel to the main assembly shaft, while it is constrained in the direction perpendicular to the shaft, being driven in this direction by rotation of the shaft. A prototype platform was constructed to demonstrate the feasibility of this new concept

  5. Analysis of Wheel Hub Motor Drive Application in Electric Vehicles

    Directory of Open Access Journals (Sweden)

    Sun Yuechao

    2017-01-01

    Full Text Available Based on the comparative analysis of the performance characteristics of centralized and distributed drive electric vehicles, we found that the wheel hub motor drive mode of the electric vehicles with distributed drive have compact structure, high utilization ratio of interior vehicle space, lower center of vehicle gravity, good driving stability, easy intelligent control and many other advantages, hence in line with the new requirements for the development of drive performance of electric vehicles, and distributed drive will be the ultimate mode of electric vehicles in the future.

  6. The Development of Lightweight Commercial Vehicle Wheels Using Microalloying Steel

    Science.gov (United States)

    Lu, Hongzhou; Zhang, Lilong; Wang, Jiegong; Xuan, Zhaozhi; Liu, Xiandong; Guo, Aimin; Wang, Wenjun; Lu, Guimin

    Lightweight wheels can reduce weight about 100kg for commercial vehicles, and it can save energy and reduce emission, what's more, it can enhance the profits for logistics companies. The development of lightweight commercial vehicle wheels is achieved by the development of new steel for rim, the process optimization of flash butt welding, and structure optimization by finite element methods. Niobium micro-alloying technology can improve hole expansion rate, weldability and fatigue performance of wheel steel, and based on Niobium micro-alloying technology, a special wheel steel has been studied whose microstructure are Ferrite and Bainite, with high formability and high fatigue performance, and stable mechanical properties. The content of Nb in this new steel is 0.025% and the hole expansion rate is ≥ 100%. At the same time, welding parameters including electric upsetting time, upset allowance, upsetting pressure and flash allowance are optimized, and by CAE analysis, an optimized structure has been attained. As a results, the weight of 22.5in×8.25in wheel is up to 31.5kg, which is most lightweight comparing the same size wheels. And its functions including bending fatigue performance and radial fatigue performance meet the application requirements of truck makers and logistics companies.

  7. 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.

  8. A novel dual motor drive system for three wheel electric vehicles

    Science.gov (United States)

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

    2018-03-01

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

  9. [Road safety in Italy: epidemiology of two-wheeled motor vehicles accidents. National statistics 2000].

    Science.gov (United States)

    Morandi, Anna; Berzolari, Francesca Gigli; Marinoni, Alessandra

    2004-01-01

    to describe road accidents occurred in Italy focusing, in particular, on two-wheeled motor vehicles. Analysis of road accidents based on current data referring to year 2000. Italy. In Italy, 67,127 two-wheeled motor vehicle accidents occurred in 2000. Two crash types account for 75% of the accidents: side impact and front-side impact. Per one million kilometres travelled 0.4 cars and 1.3 two-wheeled vehicles are involved (0.7 motorcycles and 2.2 mopeds). In 2000 there were 1,229 deaths and 69,543 injured riders. Males up to forty years old are the most represented. The masculinity ratio presents a decreasing trend from motorcycles to mopeds and to cars both for killed people and for injured people. The lethality rate increases with age for all types of vehicles but for mopeds this trend is much more evident. Most of the accident occur in urban road while most of the deaths happen in extra-urban road. Mopeds and motorcycles, which are a small subset of all motor vehicles (approximately 20%), are greatly overrepresented in crashes. Considering the kilometres travelled, the risk to be involved in a crash for mopeds is estimated to be 32.6 times higher than the comparable risk for cars and for motorcycles it is 17 times higher. The risk of death for riders is two times the risk for cars.

  10. STABILITY OF WHEELED VEHICLES AS COMPLEX OPERATIONAL PROPERTIES

    Directory of Open Access Journals (Sweden)

    N. Artemov

    2011-01-01

    Full Text Available Different views on the definition of «stability of wheeled vehicles» are considered and the author’s own definition is offered. A version of the structure of stability properties as a complex op-erational property is offered.

  11. EXPERIMENTAL EVALUATION OF ARTICULATED WHEELED VEHICLES POSITION STABILITY

    Directory of Open Access Journals (Sweden)

    Ye. Dubinin

    2015-07-01

    Full Text Available With introducing a mobile measurement system with linear acceleration sensors there was experimentally determined the parameter of position stability of the articulated wheeled vehicle on the example of HTA-200 «Slobozhanets». It was determined that the position stability was provided within the entire range of operating speeds and accelerations. The obtained results can be used to enhance the traffic safety of articulated vehicles.

  12. Light and Heavy Tactical Wheeled Vehicle Fuel Consumption Evaluations Using Fuel Efficient Gear Oils (FEGO)

    Science.gov (United States)

    2016-05-01

    UNCLASSIFIED LIGHT AND HEAVY TACTICAL WHEELED VEHICLE FUEL CONSUMPTION EVALUATIONS USING FUEL EFFICIENT GEAR OILS (FEGO) FINAL... HEAVY TACTICAL WHEELED VEHICLE FUEL CONSUMPTION EVALUATIONS USING FUEL EFFICIENT GEAR OILS (FEGO) FINAL REPORT TFLRF No. 477 by Adam C...August 2014 – March 2016 4. TITLE AND SUBTITLE LIGHT AND HEAVY TACTICAL WHEELED VEHICLE FUEL CONSUMPTION EVALUATIONS USING FEUL EFFICIENT GEAR OILS

  13. 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.

  14. Development and application of resilient wheels in urban rail transit vehicle

    Directory of Open Access Journals (Sweden)

    Juan WEN

    Full Text Available Urban rail transit vehicles have been more and more attractive to people as a kind of fast, comfortable, energy-saving, environmental protection and safe transportation. But because of the vehicle noise and vibration, urban rail vehicles also face severe challenges. The research of resilient wheels has been continuously developed and improved. Based on the review of development background and structure sorts of resilient wheels, the advantages of resilient wheels are described, and the research status of noise and vibration reducing, infinite element strength analysis, vehicle dynamic analysis and the wheel-rail wear of resilient wheels are discussed. Taking the low-floor LRVs (light rail vehicles in domestic and overseas as example, the development and application of the resilient wheels in city rail transit is described, and the application prospects of the resilient wheels in LRVs in domestic and the future research direction of elastic wheel are discussed.

  15. Cold Regions Test of Tracked and Wheeled Vehicles

    Science.gov (United States)

    2015-12-11

    time from when the operator applied the brake and when the brake application actually occurs due to the brake fluid viscosity becoming thicker. Note if...while operating in snow. The TOP includes guidance for snow as well as mud, sand, swamps, and wet clay . Most conventional wheeled vehicles cannot...grade to the proper viscosity oils and grease as prescribed by the applicable LO for the vehicle’s intended destination. h. Prior to shipment of the

  16. Hyper-X Vehicle Model - Front View

    Science.gov (United States)

    1996-01-01

    A front view of an early desk-top model of NASA's X-43A 'Hyper-X,' or Hypersonic Experimental Vehicle, which has been developed to flight test a dual-mode ramjet/scramjet propulsion system at speeds from Mach 7 up to Mach 10 (7 to 10 times the speed of sound, which varies with temperature and altitude). 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 expand the speed boundaries of air-breathing propulsion by being the first aircraft to demonstrate an airframe-integrated, scramjet-powered free flight. Scramjets (supersonic-combustion ramjets) are ramjet engines in which the airflow through the whole engine remains supersonic. Scramjet technology is challenging because only limited testing can be performed in ground facilities. Long duration, full-scale testing requires flight research. Scramjet engines are air-breathing, capturing their oxygen from the atmosphere. Current spacecraft, such as the Space Shuttle, are rocket powered, so they must carry both fuel and oxygen for propulsion. Scramjet technology-based vehicles need to carry only fuel. By eliminating the need to carry oxygen, future hypersonic

  17. Stability of the Small Electric Vehicle with Two In-Wheel Motors

    Directory of Open Access Journals (Sweden)

    Heerwan P.M.

    2017-01-01

    Full Text Available For a small electric vehicle (EV with the rear two in-wheel motors, the hydraulic brake system and the mechanical brake system are installed at the front and rear tire respectively. The mechanical brake system is used at the rear tire because there is no enough space for the hydraulic brake system. In a braking condition, the in-wheel motor at the rear tire will generate the regenerative braking force and it can improve the braking performance of the vehicle. However, during braking on the low adhesion road surface, anti-lock brake system (ABS is very crucial to prevent the tire from lock-up. To improve the safety and stability of the vehicle, the combination of anti-skid control system and direct yaw moment control system is proposed. The anti-skid control system contains a hydraulic unit of ABS at the front tires and regenerative brake timing control at the rear tires. The control method of the regenerative brake timing control is same as ABS and it will turn on and off to prevent the tire from lock-up. On the other hand, the direct yaw moment control system is developed to increase the steer performance of the vehicle. The optimal control is used as the control strategy method to control the yaw moment. The simulation is developed in MATLAB Simulink and the result shows that the proposed model can improve the stopping distance from 9 seconds to 8.2 seconds. In addition, the combination of skid control and yaw moment control also improved the steer performance of the vehicle.

  18. Wheeled Vehicle Steering Systems. Military Curriculum Materials for Vocational and Technical Education.

    Science.gov (United States)

    Army Ordnance Center and School, Aberdeen Proving Ground, MD.

    This course is one of several subcourses that make up the entire Army correspondence course on wheeled vehicle maintenance. The subcourse is designed to provide the student with information about the operation, malfunction diagnosis, maintenance, and repair of wheeled vehicle steering systems. It provides the basic theory, and also includes…

  19. Wheeled Vehicle Electrical Systems. Military Curriculum Materials for Vocational and Technical Education.

    Science.gov (United States)

    Army Ordnance Center and School, Aberdeen Proving Ground, MD.

    This course is one of several subcourses that make up the entire Army correspondence course on wheeled vehicle maintenance. The subcourse is designed to provide the student with information about the operation, malfunction diagnosis, maintenance, and repair of wheeled vehicle electrical systems. It provides the basic theory, and also includes…

  20. Wheeled Vehicle Clutches, Transmissions, and Transfers. Military Curriculum Materials for Vocational and Technical Education.

    Science.gov (United States)

    Army Ordnance Center and School, Aberdeen Proving Ground, MD.

    This course is one of several subcourses that make up the entire Army correspondence course on wheeled vehicle maintenance. The subcourse is designed to provide the student with information about the operation, malfunction diagnosis, maintenance, and repair of wheeled vehicle clutches, transmissions, and transfer cases. It provides the basic…

  1. Wheeled Vehicle Drive Lines, Axles, and Suspension Systems. Military Curriculum Materials for Vocational and Technical Education.

    Science.gov (United States)

    Army Ordnance Center and School, Aberdeen Proving Ground, MD.

    This course is one of several subcourses that make up the entire Army correspondence course on wheeled vehicle maintenance. The subcourse is designed to provide the student with information about the operation, malfunction diagnosis, maintenance, and repair of wheeled vehicle drive lines, axles, and suspension systems. It provides the basic…

  2. 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.

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

    Directory of Open Access Journals (Sweden)

    Maharun Mui’nuddin

    2014-07-01

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

  4. Position and force control of a vehicle with two or more steerable drive wheels

    Energy Technology Data Exchange (ETDEWEB)

    Reister, D.B.; Unseren, M.A.

    1992-10-01

    When a vehicle with two or more steerable drive wheels is traveling in a circle, the motion of the wheels is constrained. The wheel translational velocity divided by the radius to the center of rotation must be the same for all wheels. When the drive wheels are controlled independently using position control, the motion of the wheels may violate the constraints and the wheels may slip. Consequently, substantial errors can occur in the orientation of the vehicle. A vehicle with N drive wheels has (N - 1) constraints and one degree of freedom. We have developed a new approach to the control of a vehicle with N steerable drive wheels. The novel aspect of our approach is the use of force control. To control the vehicle, we have one degree of freedom for the position on the circle and (N - 1) forces that can be used to reduce errors. Recently, Kankaanranta and Koivo developed a control architecture that allows the force and position degrees of freedom to be decoupled. In the work of Kankaanranta and Koivo the force is an exogenous input. We have made the force endogenous by defining the force in terms of the errors in satisfying the rigid body kinematic constraints. We have applied the control architecture to the HERMIES-III robot and have measured a dramatic reduction in error (more than a factor of 20) compared to motions without force control.

  5. Static In-wheel Wireless Charging Systems for Electric Vehicles

    Directory of Open Access Journals (Sweden)

    Chirag Panchal

    2017-09-01

    Full Text Available Wireless charging is a popular upcoming technology with uses ranging from mobile phone charging through to electric vehicle EV charging. Large air gaps found in current EV wireless charging systems WCS pose a hurdle of its success. Air gaps in WCS cause issues in regards to efficiency power transfer and electromagnetic compatibility EMC leakage issues. A static In-Wheel WCS IW-WCS is presented which significantly reduces the issues associated with large air gaps. A small scale laboratory prototype utilizing a standard 10mm steel reinforced tyre has been created and compared to a typical 30mm air gap. The IW-WCS has been investigated by experimental and finite element method FEM based electro-magnetic field simulation methods to validate performance.

  6. Considerations on the use of elastic wheels to the urban transport vehicles

    Science.gov (United States)

    Sebesan, Ioan; Arsene, Sorin; Manea, Ion

    2018-03-01

    To minimize dynamic wheel-rail interaction efforts a condition is that the unassembled mass of the vehicle is as small as possible. The elastic wheel by its construction fulfills these conditions - she has interposed between the crown and the body of the wheel, the elastic rubber elements. In this way, it can be considered that the unsupported mass is represented only by the mass of the wheel crown. Additionally, this elasticity also has a reduction effect on rolling noise. This feature makes it suitable for use on urban transport vehicles.

  7. Optimal control of mode transition for four-wheel-drive hybrid electric vehicle with dry dual-clutch transmission

    Science.gov (United States)

    Zhao, Zhiguo; Lei, Dan; Chen, Jiayi; Li, Hangyu

    2018-05-01

    When the four-wheel-drive hybrid electric vehicle (HEV) equipped with a dry dual clutch transmission (DCT) is in the mode transition process from pure electrical rear wheel drive to front wheel drive with engine or hybrid drive, the problem of vehicle longitudinal jerk is prominent. A mode transition robust control algorithm which resists external disturbance and model parameter fluctuation has been developed, by taking full advantage of fast and accurate torque (or speed) response of three electrical power sources and getting the clutch of DCT fully involved in the mode transition process. Firstly, models of key components of driveline system have been established, and the model of five-degrees-of-freedom vehicle longitudinal dynamics has been built by using a Uni-Tire model. Next, a multistage optimal control method has been produced to realize the decision of engine torque and clutch-transmitted torque. The sliding-mode control strategy for measurable disturbance has been proposed at the stage of engine speed dragged up. Meanwhile, the double tracking control architecture that integrates the model calculating feedforward control with H∞ robust feedback control has been presented at the stage of speed synchronization. Finally, the results from Matlab/Simulink software and hardware-in-the-loop test both demonstrate that the proposed control strategy for mode transition can not only coordinate the torque among different power sources and clutch while minimizing vehicle longitudinal jerk, but also provide strong robustness to model uncertainties and external disturbance.

  8. On-Line Path Generation and Tracking for High-Speed Wheeled Autonomous Vehicles

    Science.gov (United States)

    2006-02-17

    On-Line Path Generation and Tracking for High-Speed Wheeled Autonomous Vehicles Report Title ABSTRACT In this work we proposed two semi-analytic...298-102 Enclosure 1 On-Line Path Generation and Tracking for High-Speed Wheeled Autonomous Vehicles by...Specifically, the following problems will be addressed during this project: 2.1 Challenges The problem of trajectory planning for high-speed autonomous vehicles is

  9. Assessment of a rail vehicle running with the damaged wheel on a ride comfort for passengers

    Directory of Open Access Journals (Sweden)

    Dižo Ján

    2018-01-01

    Full Text Available In certain conditions rail vehicles wheels can be during operation damaged. Then, the profile of wheels is no longer circular, but it is changed depending on the type and severity of defects. When such rail vehicle with the damaged wheel operates, the quality of a ride comfort for passenger is degraded. This article is focused on the assessment of ride comfort for passenger based on results obtained from dynamic analyses. Simulations and calculations were carried out in commercial multibody software. In our research we considered one type of the railway wheel untrueness – wheel-flat. This type of wheel damaging is relatively common and has such influence on the ride comfort for passenger worsening, which needs to be detected and investigated.

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

    Directory of Open Access Journals (Sweden)

    Abdelfatah Nasri

    2008-01-01

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

  11. Enabling unmanned capabilities in the tactical wheeled vehicle fleet of the future

    Science.gov (United States)

    Zych, Noah

    2012-06-01

    From transporting troops and weapons systems to supplying beans, bullets, and Band-Aids to front-line warfighters, tactical wheeled vehicles serve as the materiel backbone anywhere there are boots on the ground. Drawing from the U.S. Army's Tactical Wheeled Vehicle Strategy and the Marine Corps Vision & Strategy 2025 reports, one may conclude that the services have modest expectations for the introduction of large unmanned ground systems into operational roles in the next 15 years. However, the Department of Defense has already invested considerably in the research and development of full-size UGVs-and commanders deployed in both Iraq and Afghanistan have advocated the urgent fielding of early incarnations of this technology, believing it could make a difference on their battlefields today. For military UGVs to evolve from mere tactical advantages into strategic assets with developed doctrine, they must become as trustworthy as a well-trained warfighter in performing their assigned task. Starting with the Marine Corps' ongoing Cargo Unmanned Ground Vehicle program as a baseline, and informed by feedback from previously deployed subject matter experts, this paper examines the gaps which presently exist in UGVs from a mission-capable perspective. It then considers viable near-term technical solutions to meet today's functional requirements, as well as long-term development strategies to enable truly robust performance. With future conflicts expected to be characterized by increasingly complex operational environments and a broad spectrum of rapidly adapting threats, one of the largest challenges for unmanned ground systems will be the ability to exhibit agility in unpredictable circumstances.

  12. A mechanical model for deformable and mesh pattern wheel of lunar roving vehicle

    Science.gov (United States)

    Liang, Zhongchao; Wang, Yongfu; Chen, Gang (Sheng); Gao, Haibo

    2015-12-01

    As an indispensable tool for astronauts on lunar surface, the lunar roving vehicle (LRV) is of great significance for manned lunar exploration. An LRV moves on loose and soft lunar soil, so the mechanical property of its wheels directly affects the mobility performance. The wheels used for LRV have deformable and mesh pattern, therefore, the existing mechanical theory of vehicle wheel cannot be used directly for analyzing the property of LRV wheels. In this paper, a new mechanical model for LRV wheel is proposed. At first, a mechanical model for a rigid normal wheel is presented, which involves in multiple conventional parameters such as vertical load, tangential traction force, lateral force, and slip ratio. Secondly, six equivalent coefficients are introduced to amend the rigid normal wheel model to fit for the wheels with deformable and mesh-pattern in LRV application. Thirdly, the values of the six equivalent coefficients are identified by using experimental data obtained in an LRV's single wheel testing. Finally, the identified mechanical model for LRV's wheel with deformable and mesh pattern are further verified and validated by using additional experimental results.

  13. A Multiple Data Fusion Approach to Wheel Slip Control for Decentralized Electric Vehicles

    Directory of Open Access Journals (Sweden)

    Dejun Yin

    2017-04-01

    Full Text Available Currently, active safety control methods for cars, i.e., the antilock braking system (ABS, the traction control system (TCS, and electronic stability control (ESC, govern the wheel slip control based on the wheel slip ratio, which relies on the information from non-driven wheels. However, these methods are not applicable in the cases without non-driven wheels, e.g., a four-wheel decentralized electric vehicle. Therefore, this paper proposes a new wheel slip control approach based on a novel data fusion method to ensure good traction performance in any driving condition. Firstly, with the proposed data fusion algorithm, the acceleration estimator makes use of the data measured by the sensor installed near the vehicle center of mass (CM to calculate the reference acceleration of each wheel center. Then, the wheel slip is constrained by controlling the acceleration deviation between the actual wheel and the reference wheel center. By comparison with non-control and model following control (MFC cases in double lane change tests, the simulation results demonstrate that the proposed control method has significant anti-slip effectiveness and stabilizing control performance.

  14. 75 FR 13809 - Reclassification of Motorcycles (Two and Three Wheeled Vehicles) in the Guide to Reporting...

    Science.gov (United States)

    2010-03-23

    ... Taxation, page 3-2. Item I.E.2. Motorcycles: This item includes two-wheeled and three-wheeled motorcycles... FHWA from their motor vehicle registration systems. As a result, such data is based on the definitions... bicycles. \\4\\ American National Standards Institute, http://webstore.ansi.org/?source=google&adgroup=ansi...

  15. 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.

  16. Decoupling control of steering and driving system for in-wheel-motor-drive electric vehicle

    Science.gov (United States)

    Zhang, Han; Zhao, Wanzhong

    2018-02-01

    To improve the maneuverability and stability of in-wheel-motor-drive electric vehicle, a control strategy based on nonlinear decoupling control method is proposed in this paper, realizing the coordinated control of the steering and driving system. At first, the nonlinear models of the in-wheel-motor-drive electric vehicle and its sub-system are constructed. Then the inverse system decoupling theory is applied to decompose the nonlinear system into several independent subsystems, which makes it possible to realize the coordinated control of each subsystem. Next, the μ-Synthesis theory is applied to eliminate the influence of model uncertainty, improving the stability, robustness and tracking performance of in-wheel-motor-drive electric vehicle. Simulation and experiment results and numerical analyses, based on the electric vehicle actuated by in-wheel-motors, prove that the proposed control method is effective to accomplish the decoupling control of the steering and driving system in both simulation and real practice.

  17. The U.S. Combat and Tactical Wheeled Vehicle Fleets: Issues and Suggestions for Congress

    Science.gov (United States)

    2011-01-01

    capac- ity and higher thermal operating temperatures, and improvements in ultracapacitors, which will enable improved regenerative braking ...associated with particular categories of combat vehi- cles and armored tactical wheeled vehicles, and with particular missions of such vehicles. (D...and an assessment of emerging threats • identify critical technology elements or integration risks asso- ciated with particular categories of vehicles

  18. Design of the Front-End Detector Control System of the ATLAS New Small Wheels

    CERN Document Server

    Koulouris, Aimilianos; The ATLAS collaboration

    2017-01-01

    The ATLAS experiment will be upgraded during the next LHC Long Shutdown (LS2). The flagship upgrade is the New Small Wheel (NSW), which consists of 2 disks of Muon Gas detectors. The detector technologies used are Micromegas (MM) and sTGC, providing a total of 16 layers of tracking and trigger. The Slow Control Adapter (SCA) is part of the GigaBit Transceiver (GBT) - “Radiation Hard Optical Link Project” family of chips designed at CERN, EP-ESE department, which will be used at the NSW upgrade. The SCA offers several interfaces to read analog and digital inputs, and configure front-end Readout ASICs, FPGAs, or other chips. This poster gives an overview of the system, data flow, and software developed for communicating with the SCA.

  19. Influence of Wheel Eccentricity on Vertical Vibration of Suspended Monorail Vehicle: Experiment and Simulation

    OpenAIRE

    Kaikai Lv; Kaiyun Wang; Zhihui Chen; Chengbiao Cai; Lirong Guo

    2017-01-01

    This paper investigates the influence of wheel eccentricity on vertical vibration of suspended monorail vehicle based on experiment and simulation. Two sets of tests are conducted in the first Chinese suspended monorail, and the tested acceleration is analyzed and exhibited. A multibody dynamic model of the suspended monorail vehicle is established to simulate the vertical vibration of car body excited by wheel eccentricity. The results show that there are three factors which may cause an abn...

  20. 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.

  1. Dynamic Modeling and Vibration Analysis for the Vehicles with Rigid Wheels Based on Wheel-Terrain Interaction Mechanics

    Directory of Open Access Journals (Sweden)

    Jianfeng Wang

    2015-01-01

    Full Text Available The contact mechanics for a rigid wheel and deformable terrain are complicated owing to the rigid flexible coupling characteristics. Bekker’s equations are used as the basis to establish the equations of the sinking rolling wheel, to vertical load pressure relationship. Since vehicle movement on the Moon is a complex and on-going problem, the researcher is poised to simplify this problem of vertical loading of the wheel. In this paper, the quarter kinetic models of a manned lunar rover, which are both based on the rigid road and deformable lunar terrain, are used as the simulation models. With these kinetic models, the vibration simulations were conducted. The simulation results indicate that the quarter kinetic model based on the deformable lunar terrain accurately reflects the deformable terrain’s influence on the vibration characteristics of a manned lunar rover. Additionally, with the quarter kinetic model of the deformable terrain, the vibration simulations of a manned lunar rover were conducted, which include a parametric analysis of the wheel parameters, vehicle speed, and suspension parameters. The results show that a manned lunar rover requires a lower damping value and stiffness to achieve better vibration performance.

  2. Design and Assessment of a Machine Vision System for Automatic Vehicle Wheel Alignment

    Directory of Open Access Journals (Sweden)

    Rocco Furferi

    2013-05-01

    Full Text Available Abstract Wheel alignment, consisting of properly checking the wheel characteristic angles against vehicle manufacturers' specifications, is a crucial task in the automotive field since it prevents irregular tyre wear and affects vehicle handling and safety. In recent years, systems based on Machine Vision have been widely studied in order to automatically detect wheels' characteristic angles. In order to overcome the limitations of existing methodologies, due to measurement equipment being mounted onto the wheels, the present work deals with design and assessment of a 3D machine vision-based system for the contactless reconstruction of vehicle wheel geometry, with particular reference to characteristic planes. Such planes, properly referred to as a global coordinate system, are used for determining wheel angles. The effectiveness of the proposed method was tested against a set of measurements carried out using a commercial 3D scanner; the absolute average error in measuring toe and camber angles with the machine vision system resulted in full compatibility with the expected accuracy of wheel alignment systems.

  3. Influence of Wheel Eccentricity on Vertical Vibration of Suspended Monorail Vehicle: Experiment and Simulation

    Directory of Open Access Journals (Sweden)

    Kaikai Lv

    2017-01-01

    Full Text Available This paper investigates the influence of wheel eccentricity on vertical vibration of suspended monorail vehicle based on experiment and simulation. Two sets of tests are conducted in the first Chinese suspended monorail, and the tested acceleration is analyzed and exhibited. A multibody dynamic model of the suspended monorail vehicle is established to simulate the vertical vibration of car body excited by wheel eccentricity. The results show that there are three factors which may cause an abnormal vibration considering the track and the vehicle system. The influence of wheel eccentricity on the car body vibration was firstly analyzed. Simulated acceleration of car body has a great accordance with test. The wheel eccentricity could excite the resonance of car body at the speed of 21 km/h, and the vertical acceleration would increase considerably. Decreasing the secondary stiffness can effectively reduce the vertical vibration caused by wheel eccentricity, especially at the resonant speed. In the secondary test, the peak of car body acceleration at speed of 20 km/h is not appearing when only renewing the wheels, and the acceleration is decreasing obviously at the domain frequency. It is further determined that the abnormal vibration is mainly caused by the wheel eccentricity.

  4. Crash simulation of UNS electric vehicle under frontal front impact

    Energy Technology Data Exchange (ETDEWEB)

    Susilo, D. D., E-mail: djoksus-2010@yahoo.com; Lukamana, N. I., E-mail: n.indra.lukmana@gmail.com; Budiana, E. P., E-mail: budiana.e@gmail.com; Tjahjana, D. D. D. P., E-mail: danar1405@gmail.com [Mechanical Engineering Department, Sebelas Maret University, Surakarta (Indonesia)

    2016-03-29

    Sebelas Maret University has been developing an Electric Vehicle namely SmarT-EV UNS. The main structure of the car are chasis and body. The chasis is made from steel and the body is made from fiberglass composite. To ensure the safety of the car, both static and dynamic tests were carried out to these structures, including their materials, like: tensile test, bending test, and impact test. Another test needed by this vehicle is crashworthiness test. To perform the test, it is needed complex equipments and it is quite expensive. Another way to obtain vehicle crashworthiness behaviour is by simulate it. The purpose of this study was to simulate the response of the Smart-EV UNS electric vehicle main structure when crashing rigid barrier from the front. The crash simulation was done in according to the NHTSA (National Highway Traffic Safety Administration) within the speed of the vehicle of 35 mph. The UNS Electric Vehicle was modelled using SolidWorks software, and the simulation process was done by finite element method using ANSYS software. The simulation result showed that the most internal impact energy was absorbed by chassis part. It absorbed 76.2% of impact energy, then the base absorbed 11.3 %, while the front body absorbed 2.5 %, and the rest was absorbed by fender, hood, and other parts.

  5. 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.

  6. 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

  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. Wheel Slip Control for Improving Traction-Ability and Energy Efficiency of a Personal Electric Vehicle

    Directory of Open Access Journals (Sweden)

    Kanghyun Nam

    2015-07-01

    Full Text Available In this paper, a robust wheel slip control system based on a sliding mode controller is proposed for improving traction-ability and reducing energy consumption during sudden acceleration for a personal electric vehicle. Sliding mode control techniques have been employed widely in the development of a robust wheel slip controller of conventional internal combustion engine vehicles due to their application effectiveness in nonlinear systems and robustness against model uncertainties and disturbances. A practical slip control system which takes advantage of the features of electric motors is proposed and an algorithm for vehicle velocity estimation is also introduced. The vehicle velocity estimator was designed based on rotational wheel dynamics, measurable motor torque, and wheel velocity as well as rule-based logic. The simulations and experiments were carried out using both CarSim software and an experimental electric vehicle equipped with in-wheel-motors. Through field tests, traction performance and effectiveness in terms of energy saving were all verified. Comparative experiments with variations of control variables proved the effectiveness and practicality of the proposed control design.

  9. TECHNO-ECONOMIC ASSESSMENT OF THE USE OF WHEELS OF PERSPECTIVE STRUCTURAL SCHEME FOR RAILWAY VEHICLES

    Directory of Open Access Journals (Sweden)

    S. A. Semenov

    2016-12-01

    Full Text Available Purpose. The article is aimed to the definition of technical and economic efficiency from the use of wheels of perspective structural scheme in the undercarriage of the rail vehicles (wagon. Methodology. The use efficiency of wheels of promising design scheme by reducing the motion resistance and wear of the wheel flanges is estimated by calculated values of estimated annual economic effect of implementation and payback period of the costs required for the development and implementation of the proposed wheel. Non-recurring costs include the cost associated with conducting research and development work, as well as the additional costs required for the manufacture of wheels of promising design scheme. Findings. In the course of computation and analysis of the economic efficiency from introductions of wheels of promising design concept, carried out on the basis of the initial data for the South-West railway, it was determined the profit which can be obtained by reducing the following operating costs: cost of returning the wheel flange on wheel sets; cost of fuel and energy resources for train traction; the value of the idle of cars in the current uncoupling repair; cost of repairs and current maintenance of rail track. In addition, it can be additionally released a number of cars by reducing their downtime. The calculation of net discounted income is carried out with the following assumptions: calculation period; estimated increase in the cost of wheel sets with wheels of promising constructive scheme compared to the model, the values of net profit for the accounting period, which was calculated by calculating the average value minus the cost of research, development and manufacturing of wheelset park with wheels of new design scheme. For a given billing period, the calculated value of the net discounted income was obtained and the payback period of the project was determined. Originality. The approaches to the perfection of design scheme of wheels

  10. Development of an omnidirectional Automated Guided Vehicle with MY3 wheels

    Directory of Open Access Journals (Sweden)

    Suyang Yu

    2016-03-01

    Full Text Available This paper presents an omnidirectional Automated Guided Vehicle (AGV with a novel omnidirectional wheel named MY3 wheel. Due to the special structure and material of the MY3 wheel, the AGV has full three DOFs in the motion plane and good capabilities of load carrying and slip resisting. In addition, the kinematic model of the AGV is derived, and the guiding method that can make the AGV to follow a specified path is established. Finally, experiments are performed to verify the kinematic model and guiding method.

  11. Final Rule for Control of Air Pollution From Motor Vehicles and New Motor Vehicle Engines; Increase of the Vehicle Mass for 3-Wheeled Motorcycles

    Science.gov (United States)

    This action changes the regulatory definition of a motorcycle to include 3-wheeled vehicles weighing up to 1749 pounds effective for 1998 and later model year motorcycles for which emission standards are in place.

  12. Research on Optimized Torque-Distribution Control Method for Front/Rear Axle Electric Wheel Loader

    Directory of Open Access Journals (Sweden)

    Zhiyu Yang

    2017-01-01

    Full Text Available Optimized torque-distribution control method (OTCM is a critical technology for front/rear axle electric wheel loader (FREWL to improve the operation performance and energy efficiency. In the paper, a longitudinal dynamics model of FREWL is created. Based on the model, the objective functions are that the weighted sum of variance and mean of tire workload is minimal and the total motor efficiency is maximal. Four nonlinear constraint optimization algorithms, quasi-newton Lagrangian multiplier method, sequential quadratic programming, adaptive genetic algorithms, and particle swarm optimization with random weighting and natural selection, which have fast convergent rate and quick calculating speed, are used as solving solutions for objective function. The simulation results show that compared to no-control FREWL, controlled FREWL utilizes the adhesion ability better and slips less. It is obvious that controlled FREWL gains better operation performance and higher energy efficiency. The energy efficiency of FREWL in equipment transferring condition is increased by 13–29%. In addition, this paper discussed the applicability of OTCM and analyzed the reason for different simulation results of four algorithms.

  13. Well-to-wheel analysis of direct and indirect use of natural gas in passenger vehicles

    International Nuclear Information System (INIS)

    Curran, Scott J.; Wagner, Robert M.; Graves, Ronald L.; Keller, Martin; Green, Johney B.

    2014-01-01

    The abundance of natural gas in the United States because of the number of existing natural gas reserves and the recent advances in extracting unconventional reserves has been one of the main drivers for low natural gas prices. A question arises of what is the optimal use of natural gas as a transportation fuel. Is it more efficient to use natural gas in a stationary power application to generate electricity to charge electric vehicles, compress natural gas for onboard combustion in vehicles, or re-form natural gas into a denser transportation fuel? This study investigates the well-to-wheels energy use and greenhouse gas emissions from various natural gas to transportation fuel pathways and compares the results to conventional gasoline vehicles and electric vehicles using the US electrical generation mix. Specifically, natural gas vehicles running on compressed natural gas are compared against electric vehicles charged with electricity produced solely from natural gas combustion in stationary power plants. The results of the study show that the dependency on the combustion efficiency of natural gas in stationary power can outweigh the inherent efficiency of electric vehicles, thus highlighting the importance of examining energy use on a well-to-wheels basis. - Highlights: • Well-to-wheels analysis shows differences in use of natural gas for transportation. • Well-to-wheels approach needed to evaluate total energy use and greenhouse gas emissions. • Well-to-wheels energy and GHG (greenhouse gas) emissions depend on efficiency of the prime mover. • Efficiency of power generation critical for low GHG emissions with electric vehicles. • Fuel economy critical for low GHG emissions with compressed natural gas vehicles

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

    Directory of Open Access Journals (Sweden)

    Rongrong Wang

    2013-01-01

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

  15. Followup Audit: DLA Officials Took Appropriate Actions to Address Concerns With Repair Parts for the High Mobility Multipurpose Wheeled Vehicle

    Science.gov (United States)

    2016-04-29

    Followup Audit : DLA Officials Took Appropriate Actions to Address Concerns With Repair Parts for the High Mobility Multipurpose Wheeled Vehicle A P R I L...Results in Brief Followup Audit : DLA Officials Took Appropriate Actions to Address Concerns With Repair Parts for the High Mobility Multipurpose Wheeled...and Maritime Paid Too Much for High Mobility Multipurpose Wheeled Vehicle Repair Parts,” (HMMWV) was issued on April 4, 2014. The audit

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

    International Nuclear Information System (INIS)

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

    2016-01-01

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

  17. Estimation of longitudinal force, lateral vehicle speed and yaw rate for four-wheel independent driven electric vehicles

    Science.gov (United States)

    Chen, Te; Xu, Xing; Chen, Long; Jiang, Haobing; Cai, Yingfeng; Li, Yong

    2018-02-01

    Accurate estimation of longitudinal force, lateral vehicle speed and yaw rate is of great significance to torque allocation and stability control for four-wheel independent driven electric vehicle (4WID-EVs). A fusion method is proposed to estimate the longitudinal force, lateral vehicle speed and yaw rate for 4WID-EVs. The electric driving wheel model (EDWM) is introduced into the longitudinal force estimation, the longitudinal force observer (LFO) is designed firstly based on the adaptive high-order sliding mode observer (HSMO), and the convergence of LFO is analyzed and proved. Based on the estimated longitudinal force, an estimation strategy is then presented in which the strong tracking filter (STF) is used to estimate lateral vehicle speed and yaw rate simultaneously. Finally, co-simulation via Carsim and Matlab/Simulink is carried out to demonstrate the effectiveness of the proposed method. The performance of LFO in practice is verified by the experiment on chassis dynamometer bench.

  18. 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...

  19. Carbon epoxy front hood for an electrical city vehicle

    Directory of Open Access Journals (Sweden)

    Bere Paul

    2017-01-01

    Full Text Available In the last decade fiber-reinforced polymer (FRP had a very impressive development. Due to its physical and mechanical properties, this material is used in many high-end domains such as: aerospace, aviation, automotive, medical, engineering or building constructions. In the last period FRP are being intensely used in the automotive industry especially for the chassis manufacturing and other vehicle structural components. In this paper, the authors present the model of a carbon epoxy front hood of a two-passenger electrical car which is specially designed in urban area and which makes use of advanced FRP manufacturing.

  20. A tank-to-wheel analysis tool for energy and emissions studies in road vehicles

    International Nuclear Information System (INIS)

    Silva, C.M.; Goncalves, G.A.; Farias, T.L.; Mendes-Lopes, J.M.C.

    2006-01-01

    Currently, oil based fuels are the primary energy source of road transport. The growing need for oil independence and CO 2 mitigation has led to the increasing importance of alternative fuel usage. CO 2 is produced not only as the fuel is used in the vehicle (tank-to-wheel contribution), but also upstream, from the fuel extraction to the refueling station (well-to-tank contribution), and the life cycle of the fuel production (well-to-wheel contribution) must be considered in order to analyse the global impact of the fuel utilization. A road vehicle tank-to-wheel analysis tool that may be integrated with well-to-tank models was developed in the present study. The integration in a demonstration case study allowed to perform a life cycle assessment concerning the utilization of diesel and natural gas fuels in a specific network line of a bus transit company operating in the city of Porto, Portugal. (author)

  1. Modal Analysis of In-Wheel Motor-Driven Electric Vehicle Based on Bond Graph Theory

    Directory of Open Access Journals (Sweden)

    Di Tan

    2017-01-01

    Full Text Available A half-car vibration model of an electric vehicle driven by rear in-wheel motors was developed using bond graph theory and the modular modeling method. Based on the bond graph model, modal analysis was carried out to study the vibration characteristics of the electric vehicle. To verify the effectiveness of the established model, the results were compared to ones computed on the ground of modal analysis and Newton equations. The comparison shows that the vibration model of the electric vehicle based on bond graph theory not only is able to better compute the natural frequency but also can easily determine the deformation mode, momentum mode, and other isomorphism modes and describe the dynamic characteristics of an electric vehicle driven by in-wheel motors more comprehensively than other modal analysis methods.

  2. Influence of Switches and Crossings on Wheel Wear of a Freight Vehicle

    OpenAIRE

    Doulgerakis, Emmanouil

    2013-01-01

    Turnouts (Switches & Crossings) are important components in railway networks, as they provide the necessary flexibility for train operations by allowing trains to change among the tracks. But the turnout’s geometry with discontinuity in rail profiles and lack of transition curve causes additional wear both on track and on vehicle. The main goal of this MSc thesis is to investigate the influence of turnouts on wheel wear of a freight vehicle. This will be obtained by simulations in the com...

  3. 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.

  4. USING COUPLING WEIGHTS AND RATIONAL DISTRIBUTION OF BRAKE FORCES BETWEEN THE AXLES OF WHEELED VEHICLES

    Directory of Open Access Journals (Sweden)

    M. Kholodov

    2011-01-01

    Full Text Available The dependence of the coefficient of coupling weight-axle vehicles under braking and a ra-tional distribution coefficient of braking force to the front axle on the condition of maximum coupling weight.

  5. 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.

  6. Study on the Rollover Characteristic of In-Wheel-Motor-Driven Electric Vehicles Considering Road and Electromagnetic Excitation

    OpenAIRE

    Di Tan; Haitao Wang; Qiang Wang

    2016-01-01

    For in-wheel-motor-driven electric vehicles, the motor is installed in the wheel directly. Tyre runout and uneven load can cause magnet gap deformation in the motor, which will produce electromagnetic forces that further influence the vehicle rollover characteristics. To study the rollover characteristics, a verified 16-degree-of-freedom rollover dynamic model is introduced. Next, the vehicle rollover characteristics both with and without electromagnetic force are analyzed under conditions of...

  7. Vehicle wheel drag coefficient in relation to travelling velocity - CFD analysis

    Science.gov (United States)

    Leśniewicz, P.; Kulak, M.; Karczewski, M.

    2016-10-01

    In order to understand the aerodynamic losses associated with a rotating automobile wheel, a detailed characteristics of the drag coefficient in relation to the applied velocity are necessary. Single drag coefficient value is most often reported for the commercially available vehicles, much less is revealed about the influence of particular car components on the energy consumption in various driving cycles. However, detailed flow potential losses determination is desired for performance estimation. To address these needs, the numerical investigation of an isolated wheel is proposed herein.

  8. Wheel Slip Control of Vehicle ABS Using Piezoactuator-Based Valve System

    Directory of Open Access Journals (Sweden)

    Juncheol Jeon

    2014-04-01

    Full Text Available This paper presents a novel piezoactuator-based valve for vehicle ABS. The piezoactuator located in one side of a rigid beam makes a displacement required to control the pressure at a flapper-nozzle of the pneumatic valve. In order to obtain the wide control range of the pressure, a pressure modulator comprised of dual-type cylinder and piston is proposed. The governing equation of the piezovalve system which consists of the proposed piezoactuator-based valve and the pressure modulator is obtained. The longitudinal vehicle dynamics and the wheel slip condition are then formulated. In order to evaluate the performance of the proposed piezovalve system from the viewpoint of the vehicle ABS, a sliding mode controller is designed for wheel slip control. The tracking control performances for the desired wheel slip rate are evaluated and the braking performances in terms of braking distance are then presented on different road conditions (dry asphalt, wet asphalt, and wet jennite. It is clearly shown that the desired wheel slip rate is well achieved and the braking distance and braking time can be significantly reduced by using the proposed piezovalve system associated with the slip rate controller.

  9. EVALUATION OF A CONCEPTUAL VEHICLE STEERING SYSTEM FOR INDEPENDENT WHEEL CONTROL

    Directory of Open Access Journals (Sweden)

    Ryszard BUCHALIK

    2017-03-01

    Full Text Available This paper presents a brief description of an unconventional steering system involving electronic stability control and its influence on vehicle motion. The proposed configuration enables individual changes in steering angle for each single wheel, in contrast to the mechanical linkage solution. An analysis of vehicle behaviour during emergency braking on a heterogeneous surface is conducted, especially with regard to the undesirable rotation of the vehicle body. The benefits of using this active steering system, implemented in the steer-by-wire mode, are characterized, while the problems for further consideration and the potential benefits of such a solution are described.

  10. Performance Evaluation of an In-Wheel Motor Cooling System in an Electric Vehicle/Hybrid Electric Vehicle

    Directory of Open Access Journals (Sweden)

    Dong Hyun Lim

    2014-02-01

    Full Text Available High power and miniaturization of motors in an in-wheel drive system, which is installed inside the wheels of a vehicle, are required for directly driving the wheels. In addition, an efficient cooling system is required to ensure high driving performance and durability. This study experimentally evaluated the heat dissipation performance of a 35-kW-class large-capacity in-wheel motor equipped with an internal-circulation-type oil-cooling system that exhibits high cooling performance and can be easily miniaturized to this motor. Temperatures of the coil and stator core of cooling systems with and without a radiator were measured in real time under in-wheel motor driving conditions. It was found that operating the cooling system at a continuous-rating maximum speed without the radiator was difficult. We confirmed that under continuous-rating base speed and continuous-rating maximum speed driving conditions, the cooling system with the radiator showed thermally stable operation. Furthermore, under maximum-rating base speed and maximum-rating maximum speed driving conditions, the cooling system with the radiator provided additional driving times of approximately 22 s and 2 s, respectively.

  11. Road simulation for four-wheel vehicle whole input power spectral density

    Science.gov (United States)

    Wang, Jiangbo; Qiang, Baomin

    2017-05-01

    As the vibration of running vehicle mainly comes from road and influence vehicle ride performance. So the road roughness power spectral density simulation has great significance to analyze automobile suspension vibration system parameters and evaluate ride comfort. Firstly, this paper based on the mathematical model of road roughness power spectral density, established the integral white noise road random method. Then in the MATLAB/Simulink environment, according to the research method of automobile suspension frame from simple two degree of freedom single-wheel vehicle model to complex multiple degrees of freedom vehicle model, this paper built the simple single incentive input simulation model. Finally the spectrum matrix was used to build whole vehicle incentive input simulation model. This simulation method based on reliable and accurate mathematical theory and can be applied to the random road simulation of any specified spectral which provides pavement incentive model and foundation to vehicle ride performance research and vibration simulation.

  12. Hyper-X Vehicle Model - Top Front View

    Science.gov (United States)

    1996-01-01

    A top front view of an early desk-top model of NASA's X-43A 'Hyper-X,' or Hypersonic Experimental Vehicle, developed to flight test a dual-mode ramjet/scramjet propulsion system at speeds from Mach 7 up to Mach 10 (7 to 10 times the speed of sound, which varies with temperature and altitude). 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 expand the speed boundaries of air-breathing propulsion by being the first aircraft to demonstrate an airframe-integrated, scramjet-powered free flight. Scramjets (supersonic-combustion ramjets) are ramjet engines in which the airflow through the whole engine remains supersonic. Scramjet technology is challenging because only limited testing can be performed in ground facilities. Long duration, full-scale testing requires flight research. Scramjet engines are air-breathing, capturing their oxygen from the atmosphere. Current spacecraft, such as the Space Shuttle, are rocket powered, so they must carry both fuel and oxygen for propulsion. Scramjet technology-based vehicles need to carry only fuel. By eliminating the need to carry oxygen, future hypersonic vehicles will

  13. Modeling of the motion of automobile elastic wheel in real-time for creation of wheeled vehicles motion control electronic systems

    Science.gov (United States)

    Balakina, E. V.; Zotov, N. M.; Fedin, A. P.

    2018-02-01

    Modeling of the motion of the elastic wheel of the vehicle in real-time is used in the tasks of constructing different models in the creation of wheeled vehicles motion control electronic systems, in the creation of automobile stand-simulators etc. The accuracy and the reliability of simulation of the parameters of the wheel motion in real-time when rolling with a slip within the given road conditions are determined not only by the choice of the model, but also by the inaccuracy and instability of the numerical calculation. It is established that the inaccuracy and instability of the calculation depend on the size of the step of integration and the numerical method being used. The analysis of these inaccuracy and instability when wheel rolling with a slip was made and recommendations for reducing them were developed. It is established that the total allowable range of steps of integration is 0.001.0.005 s; the strongest instability is manifested in the calculation of the angular and linear accelerations of the wheel; the weakest instability is manifested in the calculation of the translational velocity of the wheel and moving of the center of the wheel; the instability is less at large values of slip angle and on more slippery surfaces. A new method of the average acceleration is suggested, which allows to significantly reduce (up to 100%) the manifesting of instability of the solution in the calculation of all parameters of motion of the elastic wheel for different braking conditions and for the entire range of steps of integration. The results of research can be applied to the selection of control algorithms in vehicles motion control electronic systems and in the testing stand-simulators

  14. Wheel-Based Ice Sensors for Road Vehicles

    Science.gov (United States)

    Arndt, G. Dickey; Fink, Patrick W.; Ngo, Phong H.; Carl, James R.

    2011-01-01

    Wheel-based sensors for detection of ice on roads and approximate measurement of the thickness of the ice are under development. These sensors could be used to alert drivers to hazardous local icing conditions in real time. In addition, local ice-thickness measurements by these sensors could serve as guidance for the minimum amount of sand and salt required to be dispensed locally onto road surfaces to ensure safety, thereby helping road crews to utilize their total supplies of sand and salt more efficiently. Like some aircraft wing-surface ice sensors described in a number of previous NASA Tech Briefs articles, the wheelbased ice sensors are based, variously, on measurements of changes in capacitance and/or in radio-frequency impedance as affected by ice on surfaces. In the case of ice on road surfaces, the measurable changes in capacitance and/or impedance are attributable to differences among the electric permittivities of air, ice, water, concrete, and soil. In addition, a related phenomenon that can be useful for distinguishing between ice and water is a specific transition in the permittivity of ice at a temperature- dependent frequency. This feature also provides a continuous calibration of the sensor to allow for changing road conditions. Several configurations of wheel-based ice sensors are under consideration. For example, in a simple two-electrode capacitor configuration, one of the electrodes would be a circumferential electrode within a tire, and the ground would be used as the second electrode. Optionally, the steel belts that are already standard parts of many tires could be used as the circumferential electrodes. In another example (see figure), multiple electrodes would be embedded in rubber between the steel belt and the outer tire surface. These electrodes would be excited in alternating polarities at one or more suitable audio or radio frequencies to provide nearly continuous monitoring of the road surface under the tire. In still another

  15. 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.

  16. 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.

  17. Butt pressure welding of wheels from vehicles consisting of steel and aluminium; Pressstumpfschweissen von Fahrzeugraedern aus Stahl und Aluminium

    Energy Technology Data Exchange (ETDEWEB)

    Grobelin, K. [Hess Engineering AG, Frauenfeld (Switzerland)

    2001-07-01

    Every year in Europe 35 million wheels for vehicles are produced. Most of them are wheels consisting of metal tapes, both of steel and of aluminium alloys. The manufacturing of wheels is explained, in detail the method known as DC upset welding used for butt joints of wheel-rims. The engaged machinery, the specials of welding various materials, the limits of the method, and the quality assurance are discussed. Advantages of the applied method are joints of first-class quality, high productivity, energy saving and environmental cleanness. (orig.)

  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. ON-BOARD MONITORING OF TECHNICAL STATE FOR POWER UNITS OF WHEELED AND TRACKED VEHICLES

    Directory of Open Access Journals (Sweden)

    Yu. D. Karpievich

    2016-01-01

    Full Text Available The paper considers new methodologies pertaining to on-board diagnosis of wear-out rate for friction linings of a clutch driven disk and friction discs of a hydraulic press clutch of transmission gear boxes which are based on physical process that uses friction work as an integrated indicator. A new methodology in determination of life-span rate for engine oil has been developed in the paper. The paper presents block schematic diagrams for on-board monitoring of technical state for power units of wheeled and tracked vehicles. Usage of friction work as an integrated indicator for determination of wear-out rate for friction linings of clutch driven disk and friction discs of a haydraulic press clutch makes it possible timely at any operational period of wheeled and tracked vehicles to determine their residual operation life and forecast their replacement.While taking volume of the used fuel for determination of engine oil life-span rate it permits quickly and effectively at any operational period of wheeled and tracked vehicles to determine residual useful life of the engine oil and also forecast its replacement.

  1. A tyre slip-based integrated chassis control of front/rear traction distribution and four-wheel independent brake from moderate driving to limit handling

    Science.gov (United States)

    Joa, Eunhyek; Park, Kwanwoo; Koh, Youngil; Yi, Kyongsu; Kim, Kilsoo

    2018-04-01

    This paper presents a tyre slip-based integrated chassis control of front/rear traction distribution and four-wheel braking for enhanced performance from moderate driving to limit handling. The proposed algorithm adopted hierarchical structure: supervisor - desired motion tracking controller - optimisation-based control allocation. In the supervisor, by considering transient cornering characteristics, desired vehicle motion is calculated. In the desired motion tracking controller, in order to track desired vehicle motion, virtual control input is determined in the manner of sliding mode control. In the control allocation, virtual control input is allocated to minimise cost function. The cost function consists of two major parts. First part is a slip-based tyre friction utilisation quantification, which does not need a tyre force estimation. Second part is an allocation guideline, which guides optimally allocated inputs to predefined solution. The proposed algorithm has been investigated via simulation from moderate driving to limit handling scenario. Compared to Base and direct yaw moment control system, the proposed algorithm can effectively reduce tyre dissipation energy in the moderate driving situation. Moreover, the proposed algorithm enhances limit handling performance compared to Base and direct yaw moment control system. In addition to comparison with Base and direct yaw moment control, comparison the proposed algorithm with the control algorithm based on the known tyre force information has been conducted. The results show that the performance of the proposed algorithm is similar with that of the control algorithm with the known tyre force information.

  2. Two-wheeled motor vehicle technology in India: Evolution, prospects and issues

    International Nuclear Information System (INIS)

    Iyer, Narayan V.; Badami, Madhav G.

    2007-01-01

    By providing affordable mobility to millions of people, two-wheeled motor (M2W) vehicles play a vital role in urban transport in India and other low-income Asian countries. At the same time, these vehicles contribute significantly to urban transport impacts and energy consumption, and are characterized by high emissions and traffic mortalities per passenger-kilometre. Given the importance of technology in the popularity of these vehicles and their transport impacts, this paper discusses the evolution of M2W vehicle technology in India, and contributory factors including market forces, environmental regulation, and industry R and D efforts. It then discusses technologies that we expect to be implemented for M2W vehicles in India over the next two or three decades, the likely implications of these technologies in terms of vehicle price, emissions, fuel economy and service life, and issues related to vehicle technology development and implementation. The paper shows that while the Indian M2W vehicle industry has achieved a transformation in innovation, product development and quality in response to market demands and environmental concerns, various technological and institutional challenges need to be addressed by this and the oil and vehicle servicing industries, and government agencies at all levels, to successfully deploy advanced vehicle technologies

  3. 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.

  4. Development of a control model for a four wheel mecanum vehicle

    CSIR Research Space (South Africa)

    De Villiers, M

    2010-07-01

    Full Text Available Page 1 of 10 25th International Conference of CAD/CAM, Robotics & Factories of the Future Conference, 13-16 July 2010, Pretoria, South Africa DEVELOPMENT OF A CONTROL MODEL FOR A FOUR WHEEL MECANUM VEHICLE M. de Villiers1, Prof. G. Bright2... and summed to get the following equations (1)(2) defining the total force applied to the vehicle, the subscript T is applied to show that these are total forces: g1832g3021g3051 g2191 g3404 g3533 g1832g3051g3050 g2191 g2781 g2205g2880g2778 (1...

  5. INVESTIGATION OF VEHICLE WHEEL ROLLING WITH MAXIMUM EFFICIENCY IN THE BRAKE MODE

    Directory of Open Access Journals (Sweden)

    D. Leontev

    2011-01-01

    Full Text Available Up-to-date vehicles are equipped by various systems of braking effort automatic control theparameters calculation of which do not as a rule have a rational solution. In order to increase theworking efficiency of such systems it is necessary to have the data concerning the impact of variousoperational factors on processes occurring at braking of the object of adjustment (vehicle wheel.Data availability concerning the impact of operational factors allows to decrease geometricalparameters of adjustment devices (modulators and maintain their efficient operation under variousexploitation conditions of vehicle’s motion.

  6. Fuel choices for fuel-cell vehicles : well-to-wheel energy and emission impacts

    International Nuclear Information System (INIS)

    Wang, M.

    2002-01-01

    Because of their high energy efficiencies and low emissions, fuel-cell vehicles (FCVs) are undergoing extensive research and development. While hydrogen will likely be the ultimate fuel to power fuel-cell vehicles, because of current infrastructure constraints, hydrogen-carrying fuels are being investigated as transitional fuel-cell fuels. A complete well-to-wheels (WTW) evaluation of fuel-cell vehicle energy and emission effects that examines (1) energy feedstock recovery and transportation; (2) fuel production, transportation, and distribution; and (3) vehicle operation must be conducted to assist decision makers in selecting the fuel-cell fuels that achieve the greatest energy and emission benefits. A fuel-cycle model developed at Argonne National Laboratory--called the Greenhouse gases, Regulated Emissions, and Energy use in Transportation (GREET) model--was used to evaluate well-to-wheels energy and emission impacts of various fuel-cell fuels. The results show that different fuel-cell fuels can have significantly different energy and greenhouse gas emission effects. Therefore, if fuel-cell vehicles are to achieve the envisioned energy and emission reduction benefits, pathways for producing the fuels that power them must be carefully examined.

  7. Risk of Motor Vehicle Accidents Related to Sleepiness at the Wheel: A Systematic Review and Meta-Analysis.

    Science.gov (United States)

    Bioulac, Stéphanie; Franchi, Jean-Arthur Micoulaud; Arnaud, Mickael; Sagaspe, Patricia; Moore, Nicholas; Salvo, Francesco; Philip, Pierre

    2017-10-01

    Sleepiness at the wheel is widely believed to be a cause of motor vehicle accidents. Nevertheless, a systematic review of studies investigating this relationship has not yet been published. The objective of this study was to quantify the relationship between sleepiness at the wheel and motor vehicle accidents. A systematic review was performed using Medline, Scopus, and ISI Web of Science. The outcome measure of interest was motor vehicle accident defined as involving four- or two-wheeled vehicles in road traffic, professional and nonprofessional drivers, with or without objective consequences. The exposure was sleepiness at the wheel defined as self-reported sleepiness at the wheel. Studies were included if they provided adjusted risk estimates of motor vehicle accidents related to sleepiness at the wheel. Risk estimates and 95% confidence intervals (95% CIs) were extracted and pooled as odds ratios (ORs) using a random-effect model. Heterogeneity was quantified using Q statistics and the I2 index. The potential causes of heterogeneity were investigated using meta-regressions. Ten cross-sectional studies (51,520 participants), six case-control studies (4904 participants), and one cohort study (13,674 participants) were included. Sleepiness at the wheel was associated with an increased risk of motor vehicle accidents (pooled OR 2.51 [95% CI 1.87; 3.39]). A significant heterogeneity was found between the individual risk estimates (Q = 93.21; I2 = 83%). Sleepiness at the wheel increases the risk of motor vehicle accidents and should be considered when investigating fitness to drive. Further studies are required to explore the nature of this relationship. PROSPERO 2015 CRD42015024805. © Sleep Research Society 2017. Published by Oxford University Press on behalf of the Sleep Research Society. All rights reserved. For permissions, please e-mail journals.permissions@oup.com.

  8. 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.

  9. A survey of wheel-rail contact models for rail vehicles

    Science.gov (United States)

    Meymand, Sajjad Z.; Keylin, Alexander; Ahmadian, Mehdi

    2016-03-01

    Accurate and efficient contact models for wheel-rail interaction are essential for the study of the dynamic behaviour of a railway vehicle. Assessment of the contact forces and moments, as well as contact geometry provide a fundamental foundation for such tasks as design of braking and traction control systems, prediction of wheel and rail wear, and evaluation of ride safety and comfort. This paper discusses the evolution and the current state of the theories for solving the wheel-rail contact problem for rolling stock. The well-known theories for modelling both normal contact (Hertzian and non-Hertzian) and tangential contact (Kalker's linear theory, FASTSIM, CONTACT, Polach's theory, etc.) are reviewed. The paper discusses the simplifying assumptions for developing these models and compares their functionality. The experimental studies for evaluation of contact models are also reviewed. This paper concludes with discussing open areas in contact mechanics that require further research for developing better models to represent the wheel-rail interaction.

  10. Wheel slide protection control using a command map and Smith predictor for the pneumatic brake system of a railway vehicle

    Science.gov (United States)

    Lee, Nam-Jin; Kang, Chul-Goo

    2016-10-01

    In railway vehicles, excessive sliding or wheel locking can occur while braking because of a temporarily degraded adhesion between the wheel and the rail caused by the contaminated or wet surface of the rail. It can damage the wheel tread and affect the performance of the brake system and the safety of the railway vehicle. To safeguard the wheelset from these phenomena, almost all railway vehicles are equipped with wheel slide protection (WSP) systems. In this study, a new WSP algorithm is proposed. The features of the proposed algorithm are the use of the target sliding speed, the determination of a command for WSP valves using command maps, and compensation for the time delay in pneumatic brake systems using the Smith predictor. The proposed WSP algorithm was verified using experiments with a hardware-in-the-loop simulation system including the hardware of the pneumatic brake system.

  11. Alternative and sustainable fuelling options for 2-wheeled vehicles

    International Nuclear Information System (INIS)

    Burke, P.; Al-Abdeli, Y.M.; Karri, V.

    2006-01-01

    This paper provided details of an experiment in which a small, single cylinder, 4-stroke motorcycle was converted to use hydrogen as its fuel. Emissions from the motorcycle's exhaust system were then compared with emissions from both gasoline and hydrogen engines. The thermal efficiencies and performance of the vehicles were also compared and evaluated. Design modifications included the use of port-mounted gaseous fuel injectors and a manifold assembled above the intake valves. The ignition system for the engine was based on a module that used a single pulse generator mounted at one end of the crankshaft to measure engine speed. A dedicated engine management system (EMS) was used to control the fuel injectors and the ignition timing. Thermal efficiencies were derived by dividing the ratio between power output from the engine and the power output associated with the mass flow rate of fuel consumed. Maximum exhaust emission quantities were compared at 2 different speeds. Results of the study showed that the hydrogen engine had a 30 to 50 per cent reduction in power compared to the gasoline engine. The thermal efficiency of the gasoline engine was between 50 to 65 per cent higher than the hydrogen engine at 30 km per hour. However, the hydrogen engine produced no traceable amounts of carbon monoxide (CO). It was concluded that further testing is needed to examine the mixture stoichiometry and the effects of additional engine tuning on the hydrogen engine. 13 refs., 2 tabs., 10 figs

  12. JACoW Design of the front-end detector control system of the ATLAS New Small Wheels

    CERN Document Server

    Moschovakos, Paris

    2018-01-01

    The ATLAS experiment will be upgraded during the next LHC Long Shutdown (LS2). The flagship upgrade is the New Small Wheel (NSW) [1], which consists of 2 disks of Muon Gas detectors. The detector technologies used are Micromegas (MM) and sTGC, providing a total of 16 layers of tracking and trigger. The Slow Control Adapter (SCA) is part of the Gigabit Transceiver (GBT) - “Radiation Hard Optical Link Project” family of chips designed at CERN, EP-ESE department [2,3], which will be used at the NSW upgrade. The SCA offers several interfaces to read analogue and digital inputs, and configure front-end Readout ASICs, FPGAs, or other chips. The design of the NSW Detector Control System (DCS) takes advantage of this functionality, as described in this paper.

  13. Robust Switched Predictive Braking Control for Rollover Prevention in Wheeled Vehicles

    Directory of Open Access Journals (Sweden)

    Martín Antonio Rodríguez Licea

    2014-01-01

    Full Text Available The aim of this paper is to propose a differential braking rollover mitigation strategy for wheeled vehicles. The strategy makes use of a polytopic (piecewise linear description of the vehicle and includes translational and rotational dynamics, as well as suspension effects. The braking controller is robust and the system states are predicted to estimate the rollover risk up to a given time horizon. In contrast to existing works, the switched predictive nature of the control allows it to be applied only when risk of rollover is foreseen, interfering a minimum with driver’s actions. The stability of the strategy is analyzed and its robustness is illustrated via numerical simulations using CarSim for a variety of vehicles.

  14. Environmental policy-making in a difficult context: motorized two-wheeled vehicle emissions in India

    International Nuclear Information System (INIS)

    Badami, Madhav G.

    2004-01-01

    Motor vehicle activity is growing rapidly in India and other less-industrialized countries in Asia. This growth is contributing to serious health and welfare effects due to vehicle emissions, and energy insecurity, acidification and climate change. This paper applies the problem-structuring tools of 'value-focused thinking' to inform policy-making and implementation related to this complex problem in a difficult context, with specific reference to motorized two-wheeled vehicles, which play an important role in transport air pollution but also provide affordable mobility to millions with few other attractive options. The paper describes the process used to elicit and structure objectives and measures, based on interviews conducted by the author, and demonstrates how the objectives and measures can be used to more effectively characterize policy impacts, and create policy packages that have a better chance of long-term success

  15. Design and Construction of a Robotic Vehicle with Omni-directional Mecanum Wheels

    Directory of Open Access Journals (Sweden)

    Ján VACHÁLEK

    2014-06-01

    Full Text Available The paper deals with the design and construction of a universal robotic vehicle prototype, used for laboratory and educational purposes. The main goal is its use as a technology demonstrator for the needs of students, therefore it is equipped with several kinds of sensors and universal advanced control technologies and design solutions. Its basis is a control system and construction concept using mobile battery gear and omnidirectional Mecanum wheels. A manipulating arm and advanced tracking and spatial navigation systems are also components of the design. Since the problem of a customized design and construction of such a robotic vehicle is very complex and solved in various scientific fields, in this paper we will mainly focus on the detailed description of the control systems and subsystems of the vehicle.

  16. Sand and Dust Testing of Wheeled and Tracked Vehicles and Stationary Equipment

    Science.gov (United States)

    2009-11-18

    Vacuum pump Flow meter Measurement of dust mass ±2 percent ±4 percent ±0.0005 g Weight of air cleaner element ±0.5 percent (Total estimated error...samplers should be set to a flow rate that is isokinetic ) on the front of the vehicle, in the center of the grill or windshield, or the center of...3) Record the test bed vehicle odometer and hour meter reading. (4) Document the condition of the vehicle interior, exterior, and all

  17. Integrated Fault Diagnosis Algorithm for Motor Sensors of In-Wheel Independent Drive Electric Vehicles

    Science.gov (United States)

    Jeon, Namju; Lee, Hyeongcheol

    2016-01-01

    An integrated fault-diagnosis algorithm for a motor sensor of in-wheel independent drive electric vehicles is presented. This paper proposes a method that integrates the high- and low-level fault diagnoses to improve the robustness and performance of the system. For the high-level fault diagnosis of vehicle dynamics, a planar two-track non-linear model is first selected, and the longitudinal and lateral forces are calculated. To ensure redundancy of the system, correlation between the sensor and residual in the vehicle dynamics is analyzed to detect and separate the fault of the drive motor system of each wheel. To diagnose the motor system for low-level faults, the state equation of an interior permanent magnet synchronous motor is developed, and a parity equation is used to diagnose the fault of the electric current and position sensors. The validity of the high-level fault-diagnosis algorithm is verified using Carsim and Matlab/Simulink co-simulation. The low-level fault diagnosis is verified through Matlab/Simulink simulation and experiments. Finally, according to the residuals of the high- and low-level fault diagnoses, fault-detection flags are defined. On the basis of this information, an integrated fault-diagnosis strategy is proposed. PMID:27973431

  18. Well-to-wheels analysis of fuel-cell vehicle/fuel systems

    International Nuclear Information System (INIS)

    Wang, M.

    2002-01-01

    Major automobile companies worldwide are undertaking vigorous research and development efforts aimed at developing fuel-cell vehicles (FCVs). Proton membrane exchange (PEM)-based FCVs require hydrogen (H(sub 2)) as the fuel-cell (FC) fuel. Because production and distribution infrastructure for H(sub 2) off board FCVs as a transportation fuel does not exist yet, researchers are developing FCVs that can use hydrocarbon fuels, such as methanol (MeOH) and gasoline, for onboard production of H(sub 2) via fuel processors. Direct H(sub 2) FCVs have no vehicular emissions, while FCVs powered by hydrocarbon fuels have near-zero emissions of criteria pollutants and some carbon dioxide (CO(sub 2)) emissions. However, production of H(sub 2) can generate a large amount of emissions and suffer significant energy losses. A complete evaluation of the energy and emission impacts of FCVs requires an analysis of energy use and emissions during all stages, from energy feedstock wells to vehicle wheels-a so-called ''well-to-wheels'' (WTW) analysis. This paper focuses on FCVs powered by several transportation fuels. Gasoline vehicles (GVs) equipped with internal combustion engines (ICEs) are the baseline technology to which FCVs are compared. Table 1 lists the 13 fuel pathways included in this study. Petroleum-to-gasoline (with 30-ppm sulfur[S] content) is the baseline fuel pathway for GVs

  19. Integrated Fault Diagnosis Algorithm for Motor Sensors of In-Wheel Independent Drive Electric Vehicles.

    Science.gov (United States)

    Jeon, Namju; Lee, Hyeongcheol

    2016-12-12

    An integrated fault-diagnosis algorithm for a motor sensor of in-wheel independent drive electric vehicles is presented. This paper proposes a method that integrates the high- and low-level fault diagnoses to improve the robustness and performance of the system. For the high-level fault diagnosis of vehicle dynamics, a planar two-track non-linear model is first selected, and the longitudinal and lateral forces are calculated. To ensure redundancy of the system, correlation between the sensor and residual in the vehicle dynamics is analyzed to detect and separate the fault of the drive motor system of each wheel. To diagnose the motor system for low-level faults, the state equation of an interior permanent magnet synchronous motor is developed, and a parity equation is used to diagnose the fault of the electric current and position sensors. The validity of the high-level fault-diagnosis algorithm is verified using Carsim and Matlab/Simulink co-simulation. The low-level fault diagnosis is verified through Matlab/Simulink simulation and experiments. Finally, according to the residuals of the high- and low-level fault diagnoses, fault-detection flags are defined. On the basis of this information, an integrated fault-diagnosis strategy is proposed.

  20. ITS Technologies in Military Wheeled Tactical Vehicles: Status Quo and the Future

    International Nuclear Information System (INIS)

    Knee, H.E.

    2001-01-01

    The U.S. Army operates and maintains the largest trucking fleet in the United States. Its fleet consists of over 246,000 trucks, and it is responsible for buying and developing trucks for all branches of the armed forces. The Army's tactical wheeled vehicle fleet is the logistical backbone of the Army, and annually, the fleet logs about 823 million miles. The fleet consists of a number of types of vehicles. They include eight different families of trucks from the High Mobility Multi-Purpose Wheeled Vehicles to M900 series line haul tractors and special bodies. The average age of all the trucks within the Army fleet is 15 years, and very few have more than traditional driving instrumentation on-board. Over the past decade, the Department of Transportation's (DOT's) Intelligent Transportation Systems (ITS) Program has conducted research and deployment activities in a number of areas including in-vehicle systems, communication and telematics technologies. Many current model passenger vehicles have demonstrated the assimilation of these technologies to enhance safety and trip quality. Commercial vehicles are also demonstrating many new electronic devices that are assisting in making them safer and more efficient. Moreover, a plethora of new technologies are about to be introduced to drivers that promise greater safety, enhanced efficiency, congestion avoidance, fuel usage reduction, and enhanced trip quality. The U.S. Army has special needs with regard to fleet management, logistics, sustainability, reliability, survivability, and fuel consumption that goes beyond similar requirements within the private industry. In order to effectively apply emerging ITS technologies to the special needs of the U.S. Army, planning for the conduct of the Army's Vehicle Intelligence Program (AVIP) has now commenced. The AVIP will be focused on the conduct of research that: (1) will apply ITS technologies to the special needs of the Army, and (2) will conduct research for special needs

  1. Study on the Rollover Characteristic of In-Wheel-Motor-Driven Electric Vehicles Considering Road and Electromagnetic Excitation

    Directory of Open Access Journals (Sweden)

    Di Tan

    2016-01-01

    Full Text Available For in-wheel-motor-driven electric vehicles, the motor is installed in the wheel directly. Tyre runout and uneven load can cause magnet gap deformation in the motor, which will produce electromagnetic forces that further influence the vehicle rollover characteristics. To study the rollover characteristics, a verified 16-degree-of-freedom rollover dynamic model is introduced. Next, the vehicle rollover characteristics both with and without electromagnetic force are analyzed under conditions of the Fixed Timing Fishhook steering and grade B road excitation. The results show that the electromagnetic force has a certain effect on the load transfer and can reduce the antirollover performance of the vehicle. Therefore, the effect of the electromagnetic force on the rollover characteristic should be considered in the vehicle design. To this end, extensive analysis was conducted on the effect of the road level, vehicle speed, and the road adhesion coefficient on the vehicle rollover stability. The results indicate that vehicle rollover stability worsens when the above-mentioned factors increase, the most influential factor being the road adhesion coefficient followed by vehicle speed and road level. This paper can offer certain theory basis for the design of the in-wheel-motor-driven electric vehicles.

  2. The seismic assessment of wheeled vehicle type equipment (e.g. emergency power supply vehicle) against severe accident for nuclear power plant in Japan

    International Nuclear Information System (INIS)

    Ikeda, Takuya; Mitsuzawa, Daisuke; Yamaguchi, Yoshikazu; Hasebe, Motohiko; Imamura, Ryutaro; Tomitani, Yuji; Ueyama, Ippei; Kawamoto, Takahiro

    2017-01-01

    After the events at the Fukushima Dai-ichi Nuclear Power Plant, the equipment to mitigate the effects of severe accidents has been installed in the domestic nuclear power plants. From the viewpoint of convenience for installation, etc., a number of industry standard-based wheeled vehicle type equipment has been placed. On the other hand, the new regulations require the equipment for severe accidents to withstand the Design Basis Earthquake. Therefore, the seismic qualification is essential item for wheeled vehicle type equipment according to the regulatory requirement. At that time, compared to the traditional safety-related equipment, there was not enough knowledge of seismic evaluation for vehicle type equipment. This paper reports the overview of wheeled vehicle type equipment and the seismic qualification by test. (author)

  3. Integration of uniform design and quantum-behaved particle swarm optimization to the robust design for a railway vehicle suspension system under different wheel conicities and wheel rolling radii

    Science.gov (United States)

    Cheng, Yung-Chang; Lee, Cheng-Kang

    2017-10-01

    This paper proposes a systematic method, integrating the uniform design (UD) of experiments and quantum-behaved particle swarm optimization (QPSO), to solve the problem of a robust design for a railway vehicle suspension system. Based on the new nonlinear creep model derived from combining Hertz contact theory, Kalker's linear theory and a heuristic nonlinear creep model, the modeling and dynamic analysis of a 24 degree-of-freedom railway vehicle system were investigated. The Lyapunov indirect method was used to examine the effects of suspension parameters, wheel conicities and wheel rolling radii on critical hunting speeds. Generally, the critical hunting speeds of a vehicle system resulting from worn wheels with different wheel rolling radii are lower than those of a vehicle system having original wheels without different wheel rolling radii. Because of worn wheels, the critical hunting speed of a running railway vehicle substantially declines over the long term. For safety reasons, it is necessary to design the suspension system parameters to increase the robustness of the system and decrease the sensitive of wheel noises. By applying UD and QPSO, the nominal-the-best signal-to-noise ratio of the system was increased from -48.17 to -34.05 dB. The rate of improvement was 29.31%. This study has demonstrated that the integration of UD and QPSO can successfully reveal the optimal solution of suspension parameters for solving the robust design problem of a railway vehicle suspension system.

  4. A numerical simulation of wheel spray for simplified vehicle model based on discrete phase method

    Directory of Open Access Journals (Sweden)

    Xingjun Hu

    2015-07-01

    Full Text Available Road spray greatly affects vehicle body soiling and driving safety. The study of road spray has attracted increasing attention. In this article, computational fluid dynamics software with widely used finite volume method code was employed to investigate the numerical simulation of spray induced by a simplified wheel model and a modified square-back model proposed by the Motor Industry Research Association. Shear stress transport k-omega turbulence model, discrete phase model, and Eulerian wall-film model were selected. In the simulation process, the phenomenon of breakup and coalescence of drops were considered, and the continuous and discrete phases were treated as two-way coupled in momentum and turbulent motion. The relationship between the vehicle external flow structure and body soiling was also discussed.

  5. A Special Fiber Optic Sensor for Measuring Wheel Loads of Vehicles on Highways

    Directory of Open Access Journals (Sweden)

    Norman W. Garrick

    2008-04-01

    Full Text Available This paper presents results from an investigation on a special optical fiber as a load sensor for application in Weigh-in-Motion (WIM systems to measure wheel loads of vehicles traveling at normal speed on highways. The fiber used has a unique design with two concentric light guiding regions of different effective optical path lengths, which has the potential to enable direct measurement of magnitudes as well as locations of forces acting at multiple points along a single fiber. The optical characteristic of the fiber for intended sensing purpose was first assessed by a simple fiber bending experiment and by correlating the bend radii with the output light signal intensities. A simple laboratory load transmitting/fiber bending device was then designed and fabricated to appropriately bend the optical fiber under applied loads in order to make the fiber work as load sensor. The device with the optical fiber was tested under a universal loading machine and an actual vehicle wheel in the laboratory. The test results showed a good relationship between the magnitude of the applied load and the output optical signal changes. The results also showed a good correlation between the time delay between the inner and outer core light pulses and the distance of the applied load as measured from the output end of the fiber.

  6. Vehicle Lateral Control Under Fault in Front and/or Rear Sensors: Final Report

    OpenAIRE

    Lu, Guang; Huang, Jihua; Tomizuka, Masayoshi

    2004-01-01

    This report presents the research results of Task Order 4204(TO4204), "Vehicle Lateral Control under Fault in Front and/or Rear Sensors". This project is a continuing effort of the Partners for Advanced Transit and Highways (PATH) on the research of passenger vehicles for Automated Highway Systems (AHS).

  7. Analyzing the Wheeled Vehicle Gearbox Structures for Running in Harsh Conditions

    Directory of Open Access Journals (Sweden)

    V. V. Vasiliev

    2015-01-01

    Full Text Available In domestic automotive industry the need for transition from transmission with manual control to automatic gearboxes (GB emerged long ago. Regarding the leading foreign manufacturers (Allison, ZF, Eaton, etc., an experience in design of automatic transmissions and the level of technological development is incomparably small. Thus, to have an informed choice of the gearbox structure types and control system is a relevant problem. Application efficiency of this or other gearbox depends both on its adaptability to the actual operating conditions and on the quality of transition refinement. This paper analyzes the special features of the gear change process in the most common types of automatic gearboxes. Constructive feasibilities of an "ideal" gear change (without power loss and strategies for gear shifting are compared. The paper offers an overview of common problems when achieving these goals and the ways to solve them. An automatic transmission of the particular type used in the wheeled vehicles under off-road conditions determines the probability of maintaining their mobility. This is due to the phenomenon of wheel`s breakdown to slipping caused by sharp increase of torque on the wheel. Planetary hydromechanical transmissions (AT provide continuous input torque to the wheels, but they are expensive and difficult to manufacture and use. Besides, to provide a high number of density ratios in them is more complicated than in the automated and manual transmissions (AMT. This is important when moving long in the lower gears under difficult conditions. Compared with AT dual clutch transmissions due to design features require even more precise and fast control system of actuators and engine. Automation of constant-mesh or synchromesh transmissions provides a significant reduction in the duration of interruption in torque delivery. If it is not enough to increase mobility in the harsh conditions, a rational choice is to use a transmission type of TCCT

  8. Study on Power Switching Process of a Hybrid Electric Vehicle with In-Wheel Motors

    Directory of Open Access Journals (Sweden)

    Shaohua Wang

    2016-01-01

    Full Text Available Hybrid electric vehicles with in-wheel motors (IWM achieve a variety of driving modes by two power sources—the engine and the IWM. One of the critical problems that exists in such vehicle is the different transient characteristics between the engine and the IWM. Therefore, switching processes between the power sources have noteworthy impacts on vehicle dynamics and driving performance. For the particular switching process of the pure electric mode to the engine driving mode, a specific control strategy coordinating clutch torque, motor torque, and engine torque was proposed to solve drivability issues caused by inconsistent responses of different power sources during the mode transition. The specific switching process could be described as follows: the engine was started by IWM with the clutch serving as a key enabling actuator, dynamic torque compensation through IWM was implemented after engine started, and, meanwhile, engine speed was controlled to track the target speed through the closed loop PID control strategy. The bench tests results showed that the vehicle jerk caused during mode switching was reduced and fast and smooth mode switching was realized, which leads to the improvement of vehicle’s riding comfort.

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

    Science.gov (United States)

    Yang, Chenguang; Li, Zhijun; Li, Jing

    2013-02-01

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

  10. Localization Based on Magnetic Markers for an All-Wheel Steering Vehicle

    Directory of Open Access Journals (Sweden)

    Yeun Sub Byun

    2016-11-01

    Full Text Available Real-time continuous localization is a key technology in the development of intelligent transportation systems. In these systems, it is very important to have accurate information about the position and heading angle of the vehicle at all times. The most widely implemented methods for positioning are the global positioning system (GPS, vision-based system, and magnetic marker system. Among these methods, the magnetic marker system is less vulnerable to indoor and outdoor environment conditions; moreover, it requires minimal maintenance expenses. In this paper, we present a position estimation scheme based on magnetic markers and odometry sensors for an all-wheel-steering vehicle. The heading angle of the vehicle is determined by using the position coordinates of the last two detected magnetic markers and odometer data. The instant position and heading angle of the vehicle are integrated with an extended Kalman filter to estimate the continuous position. GPS data with the real-time kinematics mode was obtained to evaluate the performance of the proposed position estimation system. The test results show that the performance of the proposed localization algorithm is accurate (mean error: 3 cm; max error: 9 cm and reliable under unexpected missing markers or incorrect markers.

  11. Combining Front Vehicle Detection with 3D Pose Estimation for a Better Driver Assistance

    Directory of Open Access Journals (Sweden)

    Yu Peng

    2012-09-01

    Full Text Available Driver assistant systems enhance traffic safety and efficiency. The accurate 3D pose of a front vehicle can help a driver to make the right decision on the road. We propose a novel real-time system to estimate the 3D pose of the front vehicle. This system consists of two parallel threads: vehicle rear tracking and mapping. The vehicle rear is first identified in the video captured by an onboard camera, after license plate localization and foreground extraction. The 3D pose estimation technique is then employed with respect to the extracted vehicle rear. Most current 3D pose estimation techniques need prior models or a stereo initialization with user cooperation. It is extremely difficult to obtain prior models due to the varying appearance of vehicles' rears. Moreover, it is unsafe to ask for drivers' cooperation when a vehicle is running. In our system, two initial keyframes for stereo algorithms are automatically extracted by vehicle rear detection and tracking. Map points are defined as a collection of point features extracted from the vehicle's rear with their 3D information. These map points are inferences that relate the 2D features detected in following vehicles' rears with the 3D world. The relative 3D pose of the onboard camera to the front vehicle rear is then estimated through matching the map points with point features detected on the front vehicle rear. We demonstrate the capabilities of our system by testing on real-time and synthesized videos. In order to make the experimental analysis visible, we demonstrated an estimated 3D pose through augmented reality, which needs accurate and real-time 3D pose estimation.

  12. Kalman Filter Sensor Fusion for Mecanum Wheeled Automated Guided Vehicle Localization

    Directory of Open Access Journals (Sweden)

    Sang Won Yoon

    2015-01-01

    Full Text Available The Mecanum automated guided vehicle (AGV, which can move in any direction by using a special wheel structure with a LIM-wheel and a diagonally positioned roller, holds considerable promise for the field of industrial electronics. A conventional method for Mecanum AGV localization has certain limitations, such as slip phenomena, because there are variations in the surface of the road and ground friction. Therefore, precise localization is a very important issue for the inevitable slip phenomenon situation. So a sensor fusion technique is developed to cope with this drawback by using the Kalman filter. ENCODER and StarGazer were used for sensor fusion. StarGazer is a position sensor for an image recognition device and always generates some errors due to the limitations of the image recognition device. ENCODER has also errors accumulating over time. On the other hand, there are no moving errors. In this study, we developed a Mecanum AGV prototype system and showed by simulation that we can eliminate the disadvantages of each sensor. We obtained the precise localization of the Mecanum AGV in a slip phenomenon situation via sensor fusion using a Kalman filter.

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

    Directory of Open Access Journals (Sweden)

    Jarzebowicz Leszek

    2017-12-01

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

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

    Science.gov (United States)

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

    2018-05-01

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

  15. 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.

  16. CAE for the development of two-wheeled vehicles. Nirinsha kaihatsu no tame no CAE

    Energy Technology Data Exchange (ETDEWEB)

    Hirose, T. (Suzuki Motor Co. Ltd., Shizuoka (Japan))

    1992-11-01

    Applications of CAE to the development of two-wheeled vehicles were outlined. The performance estimation program for 4-cycle engines featured by its easy execution was presented illustrating an estimation model and estimated results, and the FEM generator for strength/rigidity analysis CAE indicating analytical examples of a piston and frame which is featured by easy formation of models and easy execution of advanced analyses by beginners. The vibration analysis system to estimate exciting forces from engine specifications and to estimate vibration levels of bodies with FEM models was also presented together with the estimation system of rider's vibration sensitivity. Furthermore, the noise suppression/ exhaust pressure calculation program to support muffler designs by simultaneous calculation was presented together with the thermal flow analysis program featured by easy calculation with more suitable models illustrating the analytical example of thermal flow in a large luggage box. 7 refs., 15 figs.

  17. Development and Demonstration of a Magnesium-Intensive Vehicle Front-End Substructure

    Energy Technology Data Exchange (ETDEWEB)

    Logan, Stephen D. [United States Automotive Materials Partnership LLC, Southfield, MI (United States); Forsmark, Joy H. [United States Automotive Materials Partnership LLC, Southfield, MI (United States); Osborne, Richard [United States Automotive Materials Partnership LLC, Southfield, MI (United States)

    2016-07-01

    This project is the final phase (designated Phase III) of an extensive, nine-year effort with the objectives of developing a knowledge base and enabling technologies for the design, fabrication and performance evaluation of magnesium-intensive automotive front-end substructures intended to partially or completely replace all-steel comparators, providing a weight savings approaching 50% of the baseline. Benefits of extensive vehicle weight reduction in terms of fuel economy increase, extended vehicle range, vehicle performance and commensurate reductions in greenhouse gas emissions are well known. An exemplary vehicle substructure considered by the project is illustrated in Figure 1, along with the exterior vehicle appearance. This unibody front-end “substructure” is one physical objective of the ultimate design and engineering aspects established at the outset of the larger collective effort.

  18. Indoor Autonomous Control of a Two-Wheeled Inverted Pendulum Vehicle Using Ultra Wide Band Technology.

    Science.gov (United States)

    Xia, Dunzhu; Yao, Yanhong; Cheng, Limei

    2017-06-15

    In this paper, we aimed to achieve the indoor tracking control of a two-wheeled inverted pendulum (TWIP) vehicle. The attitude data are acquired from a low cost micro inertial measurement unit (IMU), and the ultra-wideband (UWB) technology is utilized to obtain an accurate estimation of the TWIP's position. We propose a dual-loop control method to realize the simultaneous balance and trajectory tracking control for the TWIP vehicle. A robust adaptive second-order sliding mode control (2-RASMC) method based on an improved super-twisting (STW) algorithm is investigated to obtain the control laws, followed by several simulations to verify its robustness. The outer loop controller is designed using the idea of backstepping. Moreover, three typical trajectories, including a circle, a trifolium and a hexagon, have been designed to prove the adaptability of the control combinations. Six different combinations of inner and outer loop control algorithms have been compared, and the characteristics of inner and outer loop algorithm combinations have been analyzed. Simulation results demonstrate its tracking performance and thus verify the validity of the proposed control methods. Trajectory tracking experiments in a real indoor environment have been performed using our experimental vehicle to further validate the feasibility of the proposed algorithm in practice.

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

    Directory of Open Access Journals (Sweden)

    Min Ye

    2014-01-01

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

  20. Current front stiffness of European vehicles with regard to compatibility

    NARCIS (Netherlands)

    Huibers, J.; Beer, E. de

    2001-01-01

    EuroNCAP tests are carried out since 1997. The test procedure in general is comparable to the EC Directive 96/79 with a test speed of 64 km/h. This increased test speed implies a higher frontal stiffness for new vehicle designs in order to achieve a high ranking. This frontal stiffness is one of the

  1. Well-to-wheels life-cycle analysis of alternative fuels and vehicle technologies in China

    International Nuclear Information System (INIS)

    Shen Wei; Han Weijian; Chock, David; Chai Qinhu; Zhang Aling

    2012-01-01

    A well-to-wheels life cycle analysis on total energy consumptions and greenhouse-gas (GHG) emissions for alternative fuels and accompanying vehicle technologies has been carried out for the base year 2010 and projected to 2020 based on data gathered and estimates developed for China. The fuels considered include gasoline, diesel, natural gas, liquid fuels from coal conversion, methanol, bio-ethanol and biodiesel, electricity and hydrogen. Use of liquid fuels including methanol and Fischer–Tropsch derived from coal will significantly increase GHG emissions relative to use of conventional gasoline. Use of starch-based bio-ethanol will incur a substantial carbon disbenefit because of the present highly inefficient agricultural practice and plant processing in China. Electrification of vehicles via hybrid electric, plug-in hybrid electric (PHEV) and battery electric vehicle technologies offers a progressively improved prospect for the reduction of energy consumption and GHG emission. However, the long-term carbon emission reduction is assured only when the needed electricity is generated by zero- or low-carbon sources, which means that carbon capture and storage is a necessity for fossil-based feedstocks. A PHEV that runs on zero- or low-carbon electricity and cellulosic ethanol may be one of the most attractive fuel-vehicle options in a carbon-constrained world. - Highlights: ► Data and estimates unique to China are used in this analysis. ► Use of starch-based bio-ethanol will incur a substantial carbon disbenefit in China. ► Use of methanol derived from coal will incur even more carbon disbenefit. ► Plug-in-hybrid with cellulosic ethanol and clean electricity may be a viable option.

  2. Development and validation of a wear model for the analysis of the wheel profile evolution in railway vehicles

    Science.gov (United States)

    Auciello, J.; Ignesti, M.; Malvezzi, M.; Meli, E.; Rindi, A.

    2012-11-01

    The numerical wheel wear prediction in railway applications is of great importance for different aspects, such as the safety against vehicle instability and derailment, the planning of wheelset maintenance interventions and the design of an optimal wheel profile from the wear point of view. For these reasons, this paper presents a complete model aimed at the evaluation of the wheel wear and the wheel profile evolution by means of dynamic simulations, organised in two parts which interact with each other mutually: a vehicle's dynamic model and a model for the wear estimation. The first is a 3D multibody model of a railway vehicle implemented in SIMPACK™, a commercial software for the analysis of mechanical systems, where the wheel-rail interaction is entrusted to a C/C++user routine external to SIMPACK, in which the global contact model is implemented. In this regard, the research on the contact points between the wheel and the rail is based on an innovative algorithm developed by the authors in previous works, while normal and tangential forces in the contact patches are calculated according to Hertz's theory and Kalker's global theory, respectively. Due to the numerical efficiency of the global contact model, the multibody vehicle and the contact model interact directly online during the dynamic simulations. The second is the wear model, written in the MATLAB® environment, mainly based on an experimental relationship between the frictional power developed at the wheel-rail interface and the amount of material removed by wear. Starting from a few outputs of the multibody simulations (position of contact points, contact forces and rigid creepages), it evaluates the local variables, such as the contact pressures and local creepages, using a local contact model (Kalker's FASTSIM algorithm). These data are then passed to another subsystem which evaluates, by means of the considered experimental relationship, both the material to be removed and its distribution along

  3. Vehicle underbody fairing

    Science.gov (United States)

    Ortega, Jason M.; Salari, Kambiz; McCallen, Rose

    2010-11-09

    A vehicle underbody fairing apparatus for reducing aerodynamic drag caused by a vehicle wheel assembly, by reducing the size of a recirculation zone formed under the vehicle body immediately downstream of the vehicle wheel assembly. The fairing body has a tapered aerodynamic surface that extends from a front end to a rear end of the fairing body with a substantially U-shaped cross-section that tapers in both height and width. Fasteners or other mounting devices secure the fairing body to an underside surface of the vehicle body, so that the front end is immediately downstream of the vehicle wheel assembly and a bottom section of the tapered aerodynamic surface rises towards the underside surface as it extends in a downstream direction.

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

    OpenAIRE

    Huang, Jihua; Lu, Guang; Tomizuka, Masayoshi

    2000-01-01

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

  5. 49 CFR 393.130 - What are the rules for securing heavy vehicles, equipment and machinery?

    Science.gov (United States)

    2010-10-01

    ... heavy vehicles, equipment and machinery? (a) Applicability. The rules in this section apply to the transportation of heavy vehicles, equipment and machinery which operate on wheels or tracks, such as front end... heavy vehicles, equipment or machinery with crawler tracks or wheels. (1) In addition to the...

  6. Well-to-wheels analysis of hydrogen based fuel-cell vehicle pathways in Shanghai

    International Nuclear Information System (INIS)

    Huang Zhijia; Zhang Xu

    2006-01-01

    Due to high energy efficiency and zero emissions, some believe fuel cell vehicles (FCVs) could revolutionize the automobile industry by replacing internal combustion engine technology, and first boom in China. However, hydrogen infrastructure is one of the major barriers. Because different H 2 pathways have very different energy and emissions effects, the well-to-wheels (WTW) analyses are necessary for adequately evaluating fuel/vehicle systems. The pathways used to supply H 2 for FCVs must be carefully examined by their WTW energy use, greenhouse gases (GHGs) emissions, total criteria pollutions emissions, and urban criteria pollutions emissions. Ten hydrogen pathways in Shanghai have been simulated. The results include well-to-wheels energy use, GHGs emissions, total criteria pollutions and urban criteria pollutions. A fuel-cycle model developed at Argonne National Laboratory-called the Greenhouse gases, Regulated Emissions, and Energy use in Transportation (GREET) model-was used to evaluate well-to-wheels energy and emissions impacts of hydrogen pathways in this study. Because the initial GREET model had no coal and naphtha-based hydrogen pathways, four hydrogen pathway computer programs were added to GREET in the research. To analyze uncertain impacts, commercial software, Crystal Ball(TM) was used to conduct Monte Carlo simulations. Hence, instead of point estimates, the results of this study were probability distributions. Through the research of H 2 pathways in Shanghai, the following conclusions were achieved:(1)All the pathways have significant reductions in WTW petroleum use, except two H 2 pathways from naphtha, which achieve about 20% reductions in WTW petroleum. (2)All the pathways have significant reductions in WTW urban criteria pollutions emissions, except two H 2 pathways from coal, which result in significant increases in WTW urban SO X emissions. (3)The NG-based H 2 pathways have the best WTW energy efficiencies, and the electrolysis H 2 pathways

  7. A new inventory for two-wheel vehicle emissions in West Africa for 2002

    Science.gov (United States)

    Assamoi, Eric-Michel; Liousse, Catherine

    2010-10-01

    Rather surprisingly, urban atmospheric particulate levels in West Africa compare with measured concentrations in Europe and Asia megacities (Liousse, C., Galy-Lacaux, C., Assamoi, E.-M., Ndiaye, A., Diop, B., Cachier, H., Doumbia, T., Gueye, P., Yoboue, V., Lacaux, J.-P., Guinot, B., Guillaume, B., Rosset, R., Castera, P., Gardrat, E., Zouiten, C., Jambert, C., Diouf, A., Koita, O., Baeza, A., Annesi-Maesano, I., Didier, A., Audry, S., Konare, A., 2009. Integrated Focus on West African Cities (Cotonou, Bamako, Dakar, Ouagadougou, Abidjan, Niamey): Emissions, Air Quality and Health Impacts of Gases and Aerosols. Third International AMMA Conference on Predictability of the West African Moosoon Weather, Climate and Impacts. Ouagadougou, Burkina Faso. July 20-24). This pollution mainly derives from road traffic emissions with, in some capitals (e.g. Cotonou), the strong contribution of two-wheel vehicles. Two key questions arise: are presently available emission inventories (e.g. Junker, C., Liousse, C., 2008. A global emission inventory of carbonaceous aerosol from historic records of fossil fuel and biofuel consumption for the period 1860-1997. Atmospheric Chemistry Physics, 8, 1-13; Bond, T.C., Streets, D.G., Yarber, K.F., Nelson, S.M., Woo, J.H., Klimont, Z., 2004. A technology-based global inventory of black and organic carbon emissions from combustion. Journal of Geophysical Research, 1009, D14203, DOI:10.1029/2003JD003697) able to account for these emissions? And, if not, how can we remedy this? The aim of this paper is to develop a methodology to estimate emissions produced by two-wheel vehicles in West Africa for 2002 in a context where reliable information is hardly available. Fuel consumption ratios between two-wheel engines (in this work) and all vehicles issued from UN database ( http://data.un.org/Data.aspx?d=EDATA&f=cmID%3aMO%3btrID%3a1221) are as high as 169%, 264% and 628%, for Burkina Faso, Mali and Chad respectively, indicating that this global

  8. A comparative assessment of battery and fuel cell electric vehicles using a well-to-wheel analysis

    International Nuclear Information System (INIS)

    Li, Mengyu; Zhang, Xiongwen; Li, Guojun

    2016-01-01

    Battery electric vehicles (BEVs) and fuel cell electric vehicles (FCEVs) are increasingly prevalent in the transportation sector due to growing concerns about climate change, urban air pollution and oil dependence. This theoretical study reports the results of well-to-wheel (WTW) analyses for BEVs and FCEVs in different energy resource and technology pathways in China in terms of fossil energy use, total energy use and greenhouse gas (GHG) emissions. The energy types include coal, natural gas, renewable energy and nuclear energy resources. Special attention is given to the effects of vehicle heating loads on the WTW performances of BEVs and FCEVs. Energy use and GHG emissions reductions from BEVs and FCEVs in different pathways are examined and compared to those of gasoline-based internal engine vehicles (ICEVs). When considering the cabin heating load in vehicles, FCEVs using natural gas as the energy source outperformed all the BEVs in terms of total energy use and GHG emissions. FCEVs adopting new energy-based pathways can achieve the same WTW efficiencies as BEVs, and these efficiencies may be even higher if the hydrogen used by FCEVs is produced by the pathways of solar-solid oxide electrolysis cell (SOEC) systems, solar-thermochemical systems or nuclear-SOEC systems. - Highlights: • A well-to-wheel analysis is performed for electric vehicle technologies in China. • The effects of cabin heating on well-to-wheel performances are investigated. • The performances of different electric vehicle pathways are presented in detail. • FCEVs with natural gas pathways outperformed BEVs.

  9. Design and analysis of new fault-tolerant permanent magnet motors for four-wheel-driving electric vehicles

    Science.gov (United States)

    Liu, Guohai; Gong, Wensheng; Chen, Qian; Jian, Linni; Shen, Yue; Zhao, Wenxiang

    2012-04-01

    In this paper, a novel in-wheel permanent-magnet (PM) motor for four-wheel-driving electrical vehicles is proposed. It adopts an outer-rotor topology, which can help generate a large drive torque, in order to achieve prominent dynamic performance of the vehicle. Moreover, by adopting single-layer concentrated-windings, fault-tolerant teeth, and the optimal combination of slot and pole numbers, the proposed motor inherently offers negligible electromagnetic coupling between different phase windings, hence, it possesses a fault-tolerant characteristic. Meanwhile, the phase back electromotive force waveforms can be designed to be sinusoidal by employing PMs with a trapezoidal shape, eccentric armature teeth, and unequal tooth widths. The electromagnetic performance is comprehensively investigated and the optimal design is conducted by using the finite-element method.

  10. A study of novel regenerative braking system based on supercapacitor for electric vehicle driven by in-wheel motors

    Directory of Open Access Journals (Sweden)

    Li-qiang Jin

    2015-03-01

    Full Text Available Taking supercapacitor and battery pack as the energy storage unit, a novel type of regenerative braking system for electric vehicle driven by in-wheel motors is presented, and a braking energy regeneration control strategy is set up. Then, a co-simulation test based on CRUISE and Simulink is conducted. The results of simulation show that the novel type of system can ensure the safety of battery pack and significantly improve the rate of energy regeneration.

  11. Risky behavior of drivers of motorized two wheeled vehicles in India.

    Science.gov (United States)

    Dandona, Rakhi; Kumar, G Anil; Dandona, Lalit

    2006-01-01

    Motorized two-wheeled vehicles (MTV) account for a large proportion of road traffic in India and the riders of these vehicles have a high risk of road traffic injuries. We report on the availability of drivers licenses, use of a helmet, driver behavior, and condition of vehicles for MTV drivers in Hyderabad, a city in India Drivers of a MTV aged >16 years were interviewed at petrol filling stations There were 4,183 MTV drivers who participated in the study. Four hundred sixty one (11%; 95% CI 9.7-12.3%) drivers had not obtained a drivers license and 798 (21.4%) had obtained a license without taking the mandatory driving test. Two thousand nine hundred twenty (69.8%; 95% CI 67.9-71.7%) drivers reported no/very occasional use of a helmet, the significant predictors of which included that those driving borrowed a MTV (odds ratio 7.90; 95% CI 3.40-18.40) or driving moped/scooterette/scooter as compared with motorcycle (3.32; 2.76-3.98), lower education (3.10; 2.66-3.61), age >45 years (2.41; 1.63-3.57), and males (1.57; 1.16-2.13). Two thousand five hundred and eight (59.9%) drivers reported committing a traffic law violation at least once within the last 3 months. Overall, 1,222 (29.2%) drivers reported ever being caught by traffic police for a traffic law violation with data on violations available for 1,205 of these drivers, of whom 680 (56.4%) paid a fine, 310 (25.7%) paid by bribe, and 215 (17.8%) made no payment. The proportion of those who did not make payment for committed violation was significantly higher among females (46.8%) than males (16.3%). Two thousand fifty two (49%) of all MTVs had no rearview mirror These data suggest the need to enact and enforce policy interventions for improving the drivers license system, mandatory use of a helmet, effective traffic law enforcement, and ensuring good vehicle condition to reduce the risk factors that potentially contribute to mortality and morbidity in road traffic crashes in MTV drivers in Indian cities.

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

    Science.gov (United States)

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

    2012-01-01

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

  13. Mobility potential of a robotic six-wheeled omnidirectional drive vehicle (ODV) with z-axis and tire inflation control

    Science.gov (United States)

    Witus, Gary

    2000-07-01

    Robot vehicle mobility is the product of the physical configuration, mechatronics (sensors, actuators, and control) and the motion programs for different obstacles, terrain conditions, and maneuver objectives. This paper examines the mobility potential of a robotic 6-by-6 wheeled omni-directional drive vehicle (ODV) with z-axis and tire inflation control. Ad ODV can steer and drive all wheels independently. The direction of motion is independent of the orientation of the body. Z- axis control refers to independent control of the suspension elevation at each wheel. Pneumatic tire inflation control provides the ability to inflate and deflate individual tires. The paper describes motion programs for various discrete obstacles and challenging terrain conditions. The paper illustrates how ODV control, z-axis control and tire inflation control interact to provide high mobility with respect to cornering, maneuvering on slopes, negotiating vertical step and horizontal gap obstacles, and braking/acceleration on soft soil and slick surfaces. The paper derives guidelines for the physical dimensions of the vehicle needed to achieve these capabilities.

  14. A Two-Wheeled, Self-Balancing Electric Vehicle Used As an Environmentally Friendly Individual Means of Transport

    Science.gov (United States)

    Bździuch, D.; Grzegożek, W.

    2016-09-01

    This paper shows a concept of a model of a two-wheeled self-balancing vehicle with an electric motor drive as an environmentally-friendly personal transporter. The principle of work, modelling of construction and performing a simulation are presented and discussed. The visualization of the designed vehicle was made thanks to using Solid Works a computer-aided design program. The vehicle was modelled as an inverted pendulum. The stability of the mechanism in the equilibrium position was studied. An exemplary steering system was also subjected to the analysis that compared two controllers: PID and LQR which enabled to monitor the balance of the vehicle when the required conditions were fulfilled. Modelling of work of the controllers and the evaluation of the obtained results in required conditions were performed in the MATLAB environment.

  15. Do the front wheels of your car really meet Ackermann's principle when driving in a bend of the road?

    NARCIS (Netherlands)

    Dijksman, E.A.

    1997-01-01

    In the past, a trapezi-formed four-bar has often been used to realize the unequal turning of these wheels. Geometrically, however, this deviates considerably from the required (relative) motion as dictated by Ackermann's Principle. A better mechanism to approximate this principle would be a six-bar

  16. 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.

  17. Tire-rim interface pressure of a commercial vehicle wheel under radial loads: theory and experiment

    Science.gov (United States)

    Wan, Xiaofei; Shan, Yingchun; Liu, Xiandong; He, Tian; Wang, Jiegong

    2017-11-01

    The simulation of the radial fatigue test of a wheel has been a necessary tool to improve the design of the wheel and calculate its fatigue life. The simulation model, including the strong nonlinearity of the tire structure and material, may produce accurate results, but often leads to a divergence in calculation. Thus, a simplified simulation model in which the complicated tire model is replaced with a tire-wheel contact pressure model is used extensively in the industry. In this paper, a simplified tire-rim interface pressure model of a wheel under a radial load is established, and the pressure of the wheel under different radial loads is tested. The tire-rim contact behavior affected by the radial load is studied and analyzed according to the test result, and the tire-rim interface pressure extracted from the test result is used to evaluate the simplified pressure model and the traditional cosine function model. The results show that the proposed model may provide a more accurate prediction of the wheel radial fatigue life than the traditional cosine function model.

  18. Simulation and analysis of vertical displacement characteristics of three wheels reverse trike vehicle with PID controller application

    Science.gov (United States)

    Wibowo, Lambang, Lullus; Erick Chandra, N.; Muhayat, Nurul; Jaka S., B.

    2017-08-01

    The purpose of this research is to obtain a mathematical model (Full Vehicle Model) and compare the performance of passive and active suspension systems of a Three-Wheels Reverse Trike vehicle. Vehicle suspension system should able to provide good steering handling and passenger comfort. Vehicle suspension system generally only uses passive suspension components with fix spring and damper coefficients. An active suspension developed from the traditional (passive) suspension design can directly control the actuator force in the suspension system. In this paper, modeling and simulation of passive and active suspension system for a Full Vehicle Model is performed using Simulink-MATLAB software. Ziegler & Nichols tuning method is used to obtain controller parameters of Proportional Integral Derivative (PID) controller. Comparison between passive and active suspension with PID controller is conducted for disturbances input of single bump road surface profile 0.1 meters. The results are the displacement and acceleration of the vehicle body in the vertical direction of active suspension system with PID control is better in providing handling capabilities and comfort for the driver than of passive suspension system. The acceleration of 1,8G with the down time of 2.5 seconds is smaller than the acceleration of 2.5G with down time of 5.5 seconds.

  19. FxLMS Method for Suppressing In-Wheel Switched Reluctance Motor Vertical Force Based on Vehicle Active Suspension System

    Directory of Open Access Journals (Sweden)

    Yan-yang Wang

    2014-01-01

    Full Text Available The vibration of SRM obtains less attention for in-wheel motor applications according to the present research works. In this paper, the vertical component of SRM unbalanced radial force, which is named as SRM vertical force, is taken into account in suspension performance for in-wheel motor driven electric vehicles (IWM-EV. The analysis results suggest that SRM vertical force has a great effect on suspension performance. The direct cause for this phenomenon is that SRM vertical force is directly exerted on the wheel, which will result in great variation in tyre dynamic load and the tyre will easily jump off the ground. Furthermore, the frequency of SRM vertical force is broad which covers the suspension resonance frequencies. So it is easy to arouse suspension resonance and greatly damage suspension performance. Aiming at the new problem, FxLMS (filtered-X least mean square controller is proposed to improve suspension performance. The FxLMS controller is based on active suspension system which can generate the controllable force to suppress the vibration caused by SRM vertical force. The conclusion shows that it is effective to take advantage of active suspensions to reduce the effect of SRM vertical force on suspension performance.

  20. Forces on wheels and fuel consumption in cars

    Science.gov (United States)

    Güémez, J.; Fiolhais, M.

    2013-07-01

    Motivated by real classroom discussions, we analyze the forces acting on moving vehicles, specifically friction on their wheels. In typical front-wheel-drive cars when the car accelerates these forces are in the forward direction in the front wheels, but they are in the opposite direction in the rear wheels. The situation may be intriguing for students, but it may also be helpful and stimulating to clarify the role of friction forces on rolling objects. In this paper we also study the thermodynamical aspects of an accelerating car, relating the distance traveled to the amount of fuel consumed. The fuel consumption is explicitly shown to be Galilean invariant and we identify the Gibbs free energy as the relevant quantity that enters into the thermodynamical description of the accelerating car. The more realistic case of the car's motion with the dragging forces taken into account is also discussed.

  1. Forces on wheels and fuel consumption in cars

    International Nuclear Information System (INIS)

    Güémez, J; Fiolhais, M

    2013-01-01

    Motivated by real classroom discussions, we analyze the forces acting on moving vehicles, specifically friction on their wheels. In typical front-wheel-drive cars when the car accelerates these forces are in the forward direction in the front wheels, but they are in the opposite direction in the rear wheels. The situation may be intriguing for students, but it may also be helpful and stimulating to clarify the role of friction forces on rolling objects. In this paper we also study the thermodynamical aspects of an accelerating car, relating the distance traveled to the amount of fuel consumed. The fuel consumption is explicitly shown to be Galilean invariant and we identify the Gibbs free energy as the relevant quantity that enters into the thermodynamical description of the accelerating car. The more realistic case of the car's motion with the dragging forces taken into account is also discussed. (paper)

  2. Development of a control model for a four wheel mecanum vehicle

    CSIR Research Space (South Africa)

    De Villiers, M

    2012-01-01

    Full Text Available in this paper accounts for the fact that the contact point in fact changes position down the axle of the wheel as the angle roller moves on the ground. The developed control model is verified with experimental results. Using the refined model, control of Mecanum...

  3. Wheel liner design for improved sound and structural performances

    Science.gov (United States)

    Oltean, Alexandru; Diaconescu, Claudiu; Tabacu, Ştefan

    2017-10-01

    Vehicle noise is composed mainly of wheel-road noise and noise from the power unit. At low speeds power unit noise dominates while at high speeds wheel-road noise dominates as wheel-road noise level increases approximately logarithmically with speed. The wheel liner is designed as a component of the vehicle that has a multiple role. It has to prevent the dirt or water from the road surface that are engaged by the wheel to access the engine/front bay. Same time it has the important role to reduce perceived noised in the passenger’s compartment that comes from the wheel-road interaction. Progress in plastic injection moulding technology allowed for new structures to be developed - nonwoven materials in combination with a PP based carrier structure which benefits from a cell structure caused by MuCell injection moulding. The results are light parts with increased sound absorption performances. An adapted combination of materials and production processes can provide the solution for stiff yet soundproofing structures valued for modern vehicles. Sound absorption characteristics of materials used for wheel liners applications were reported in this study. Different polypropylene and polyester fibre-based thermally bonded nonwovens varying in weight and thickness were investigated. Having as a background the performances of the nonwoven material the microcellular structure was part of the analysis. Acoustical absorptive behaviour was explained by analysing the results obtained using the impedance tube and correlating with the knowledge of materials structure.

  4. Implications of driving patterns on well-to-wheel performance of plug-in hybrid electric vehicles.

    Science.gov (United States)

    Raykin, Leon; MacLean, Heather L; Roorda, Matthew J

    2012-06-05

    This study examines how driving patterns (distance and conditions) and the electricity generation supply interact to impact well-to-wheel (WTW) energy use and greenhouse gas (GHG) emissions of plug-in hybrid electric vehicles (PHEVs). The WTW performance of a PHEV is compared with that of a similar (nonplug-in) gasoline hybrid electric vehicle and internal combustion engine vehicle (ICEV). Driving PHEVs for short distances between recharging generally results in lower WTW total and fossil energy use and GHG emissions per kilometer compared to driving long distances, but the extent of the reductions depends on the electricity supply. For example, the shortest driving pattern in this study with hydroelectricity uses 81% less fossil energy than the longest driving pattern. However, the shortest driving pattern with coal-based electricity uses only 28% less fossil energy. Similar trends are observed in reductions relative to the nonplug-in vehicles. Irrespective of the electricity supply, PHEVs result in greater reductions in WTW energy use and GHG emissions relative to ICEVs for city than highway driving conditions. PHEVs charging from coal facilities only reduce WTW energy use and GHG emissions relative to ICEVs for certain favorable driving conditions. The study results have implications for environmentally beneficial PHEV adoption and usage patterns.

  5. Retrospective review of adverse incidents involving passengers seated in wheeled mobility devices while traveling in large accessible transit vehicles.

    Science.gov (United States)

    Frost, Karen L; Bertocci, Gina

    2010-04-01

    Characterize wheeled mobility device (WhMD) adverse incidents on large accessible transit vehicles (LATVs) based on vehicle motion, WhMD activity during incident, incident scenario and injury. Retrospective records review. WhMD passengers traveling on LATVs while remaining seated in their. Adverse incidents characterized based on vehicle motion, WhMD activity during incident, and incident scenario. Injury characterized based on outcome, medical attention sought, vehicle activity, WhMD activity and incident scenario. 115 WhMD-related incident reports for years 2000-2005 were analyzed. Most incidents occurred when the LATV was stopped (73.9%), during ingress/egress (42.6%), and at the securement station (33.9%) when the LATV was moving. The combination of WhMD tipping and passenger falling (43.4%) occurred most frequently, and was 1.8 times more likely to occur during ingress/egress than at the securement station. One-third (33.6%) of all incidents resulted in injury, and injuries were equally distributed between ingress/egress (43.6%) and at the securement station (43.6%). WhMD users have a greater chance of incurring injury during ingress/egress than during transit. Research is needed to objectively assess real world transportation experiences of WhMD passengers, and to assess the adequacy of existing federal legislation/guidelines for accessible ramps used in public transportation. Copyright 2009 IPEM. Published by Elsevier Ltd. All rights reserved.

  6. Prevalence of sleepiness while driving four-wheel motor vehicles in Fiji: a population-based survey (TRIP 9).

    Science.gov (United States)

    Herman, Josephine; Ameratunga, Shanthi N; Wainiqolo, Iris; Kafoa, Berlin; Robinson, Elizabeth; McCaig, Eddie; Jackson, Rod

    2013-08-01

    Sleepiness has been shown to be a risk factor for road crashes in high-income countries, but has received little attention in low- and middle-income countries. We examined the prevalence of sleepiness and sleep-related disorders among drivers of four-wheel motor vehicles in Fiji. Using a two-stage cluster sampling roadside survey conducted over 12 months, we recruited a representative sample of people driving four-wheel motor vehicles on the island of Viti Levu, Fiji. A structured interviewer-administered questionnaire sought self-report information on driver characteristics including sleep-related measures. The 752 motor vehicle drivers recruited (84% response rate) were aged 17-75 years, with most driving in Viti Levu undertaken by male subjects (93%), and those identifying with Indian (70%) and Fijian (22%) ethnic groups. Drivers who reported that they were not fully alert accounted for 17% of driving, while a further 1% of driving was undertaken by those who reported having difficulty staying awake or feeling sleepy. A quarter of the driving time among 15-24-year-olds included driving while sleepy or not fully alert, with a similar proportion driving while chronically sleep deprived (ie, with less than five nights of adequate sleep in the previous week=27%). Driving while acutely or chronically sleep deprived was generally more common among Fijians compared with Indians. Driving while not fully alert is relatively common in Fiji. Sleepiness while driving may be an important contributor to road traffic injuries in this and other low- and middle-income countries.

  7. Effect of Weight Transfer on a Vehicle's Stopping Distance.

    Science.gov (United States)

    Whitmire, Daniel P.; Alleman, Timothy J.

    1979-01-01

    An analysis of the minimum stopping distance problem is presented taking into account the effect of weight transfer on nonskidding vehicles and front- or rear-wheels-skidding vehicles. Expressions for the minimum stopping distances are given in terms of vehicle geometry and the coefficients of friction. (Author/BB)

  8. 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...

  9. Co-Design Based Lateral Motion Control of All-Wheel-Independent-Drive Electric Vehicles with Network Congestion

    Directory of Open Access Journals (Sweden)

    Wanke Cao

    2017-10-01

    Full Text Available All-wheel-independent-drive electric vehicles (AWID-EVs have considerable advantages in terms of energy optimization, drivability and driving safety due to the remarkable actuation flexibility of electric motors. However, in their current implementations, various real-time data in the vehicle control system are exchanged via a controller area network (CAN, which causes network congestion and network-induced delays. These problems could lead to systemic instability and make the system integration difficult. The goal of this paper is to provide a design methodology that can cope with all these challenges for the lateral motion control of AWID-EVs. Firstly, a continuous-time model of an AWID-EV is derived. Then an expression for determining upper and lower bounds on the delays caused by CAN is presented and with which a discrete-time model of the closed-loop CAN system is derived. An expression on the bandwidth utilization is introduced as well. Thirdly, a co-design based scheme combining a period-dependent linear quadratic regulator (LQR and a dynamic period scheduler is designed for the resulting model and the stability criterion is also derived. The results of simulations and hard-in-loop (HIL experiments show that the proposed methodology can effectively guarantee the stability of the vehicle lateral motion control while obviously declining the network congestion.

  10. Acceleration Slip Regulation Strategy for Distributed Drive Electric Vehicles with Independent Front Axle Drive Motors

    Directory of Open Access Journals (Sweden)

    Lingfei Wu

    2015-05-01

    Full Text Available This paper presents an acceleration slip regulation strategy for distributed drive electric vehicles with two motors on the front axle. The tasks of the strategy include controlling the slip ratio to make full use of the road grip and controlling the yaw rate to eliminate the lateral movement due to the difference between motor torques. The rate of the slip ratio change can be controlled by controlling the motor torque, so that the slip ratio can be controlled by applying a proportional-integral control strategy to control the rate of the slip ratio change. The yaw rate can be controlled to almost zero by applying torque compensation based on yaw rate feedback. A coordination control strategy for the slip ratio control and yaw rate control is proposed based on analysis of the priorities and features of the two control processes. Simulations were carried out using MATLAB/Simulink, and experiments were performed on a hardware-in-loop test bench with actual motors. The results of the simulations and experiments showed that the proposed strategy could improve the longitudinal driving performance and straight line driving stability of the vehicle.

  11. Overview of benefits, challenges, and requirements of wheeled-vehicle mounted infrared sensors

    Science.gov (United States)

    Miller, John Lester; Clayton, Paul; Olsson, Stefan F.

    2013-06-01

    Requirements for vehicle mounted infrared sensors, especially as imagers evolve to high definition (HD) format will be detailed and analyzed. Lessons learned from integrations of infrared sensors on armored vehicles, unarmored military vehicles and commercial automobiles will be discussed. Comparisons between sensors for driving and those for situation awareness, targeting and other functions will be presented. Conclusions will be drawn regarding future applications and installations. New business requirements for more advanced digital image processing algorithms in the sensor system will be discussed. Examples of these are smarter contrast/brightness adjustments algorithms, detail enhancement, intelligent blending (IR-Vis) modes, and augmented reality.

  12. Well-to-wheel study of passenger vehicles in the Norwegian energy system

    International Nuclear Information System (INIS)

    Mari Svensson, Ann; Moller-Holst, Steffen; Gloeckner, Ronny; Maurstad, Ola

    2007-01-01

    For the evaluation of potential routes for production and application of hydrogen in a future energy system, well-to-wheel (WtW) methodologies provide a means of comparing overall impacts of technologies and fuels in a consistent and transparent manner. Such analysis provides important background information for decision makers when implementing political incentives for the conversion to more environmentally friendly energy production and consumption. In this study, a WtW approach was applied in order to evaluate the energetic and environmental impacts of introducing hydrogen in the transportation sector, in terms of energy efficiency and emissions of CO 2 and NO x , under conditions relevant for the Norwegian energy system. The hydrogen chains were compared to reference chains with conventional fuels

  13. 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.

  14. Non-Model-Based Control of a Wheeled Vehicle Pulling Two Trailers to Provide Early Powered Mobility and Driving Experiences.

    Science.gov (United States)

    Sanders Td Vr, David A

    2018-01-01

    Non-model-based control of a wheeled vehicle pulling two trailers is proposed. It is a fun train for disabled children consisting of a locomotive and two carriages. The fun train has afforded opportunities for both disabled and able bodied young people to share an activity and has provided early driving experiences for disabled children; it has introduced them to assistive and powered mobility. The train is a nonlinear system and subject to nonholonomic kinematic constraints, so that position and state depend on the path taken to get there. The train is described, and then, a robust control algorithm using proportional-derivative filtered errors is proposed to control the locomotive. The controller was not dependent on an accurate model of the train, because the mass of the vehicle and two carriages changed depending on the number, size, and shape of children and wheelchair seats on the train. The controller was robust and stable in uncertainty. Results are presented to show the effectiveness of the approach, and the suggested control algorithm is shown to be acceptable without knowing the exact plant dynamics.

  15. A Neural Network Combined Inverse Controller for a Two-Rear-Wheel Independently Driven Electric Vehicle

    Directory of Open Access Journals (Sweden)

    Duo Zhang

    2014-07-01

    Full Text Available Vehicle active safety control is attracting ever increasing attention in the attempt to improve the stability and the maneuverability of electric vehicles. In this paper, a neural network combined inverse (NNCI controller is proposed, incorporating the merits of left-inversion and right-inversion. As the left-inversion soft-sensor can estimate the sideslip angle, while the right-inversion is utilized to decouple control. Then, the proposed NNCI controller not only linearizes and decouples the original nonlinear system, but also directly obtains immeasurable state feedback in constructing the right-inversion. Hence, the proposed controller is very practical in engineering applications. The proposed system is co-simulated based on the vehicle simulation package CarSim in connection with Matlab/Simulink. The results verify the effectiveness of the proposed control strategy.

  16. 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.

  17. Army’s Decision to Begin Production of the High Mobility Multipurpose Wheeled Vehicle Was Premature

    Science.gov (United States)

    1984-06-12

    later tnan 60 days afetr the date of the report and to the House and Senate Committees on Appropriations with the agency’s first request for...the HMWMV was put through a series of tests to determine the vehicle’s effectiveness and reliability in a combat environment using troops as drivers

  18. Series hybrid vehicle system analysis using an in-wheel motor design

    NARCIS (Netherlands)

    Paulides, J.J.H.; Kazmin, Evgeny; Gysen, B.L.J.; Lomonova, E.

    2008-01-01

    Hybrid vehicles, which employ a technology combining gasoline and electric motors, are a hot item these days for transporters looking for ways to cut their fuel bills. To date, commercial systems implement diesel assisted electrical drives. As such the electrical motor is placed in a series or

  19. Wheeled hopping robot

    Science.gov (United States)

    Fischer, Gary J [Albuquerque, NM

    2010-08-17

    The present invention provides robotic vehicles having wheeled and hopping mobilities that are capable of traversing (e.g. by hopping over) obstacles that are large in size relative to the robot and, are capable of operation in unpredictable terrain over long range. The present invention further provides combustion powered linear actuators, which can include latching mechanisms to facilitate pressurized fueling of the actuators, as can be used to provide wheeled vehicles with a hopping mobility.

  20. The GREET Model Expansion for Well-to-Wheels Analysis of Heavy-Duty Vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Cai, Hao [Argonne National Lab. (ANL), Argonne, IL (United States); Burnham, Andrew [Argonne National Lab. (ANL), Argonne, IL (United States); Wang, Michael [Argonne National Lab. (ANL), Argonne, IL (United States); Hang, Wen [Argonne National Lab. (ANL), Argonne, IL (United States); Vyas, Anant [Argonne National Lab. (ANL), Argonne, IL (United States)

    2015-05-01

    Heavy-duty vehicles (HDVs) account for a significant portion of the U.S. transportation sector’s fuel consumption, greenhouse gas (GHG) emissions, and air pollutant emissions. In our most recent efforts, we expanded the Greenhouse gases, Regulated Emissions, and Energy use in Transportation (GREETTM) model to include life-cycle analysis of HDVs. In particular, the GREET expansion includes the fuel consumption, GHG emissions, and air pollutant emissions of a variety of conventional (i.e., diesel and/or gasoline) HDV types, including Class 8b combination long-haul freight trucks, Class 8b combination short-haul freight trucks, Class 8b dump trucks, Class 8a refuse trucks, Class 8a transit buses, Class 8a intercity buses, Class 6 school buses, Class 6 single-unit delivery trucks, Class 4 single-unit delivery trucks, and Class 2b heavy-duty pickup trucks and vans. These vehicle types were selected to represent the diversity in the U.S. HDV market, and specific weight classes and body types were chosen on the basis of their fuel consumption using the 2002 Vehicle Inventory and Use Survey (VIUS) database. VIUS was also used to estimate the fuel consumption and payload carried for most of the HDV types. In addition, fuel economy projections from the U.S. Energy Information Administration, transit databases, and the literature were examined. The U.S. Environmental Protection Agency’s latest Motor Vehicle Emission Simulator was employed to generate tailpipe air pollutant emissions of diesel and gasoline HDV types.

  1. Systems Engineering Technology Readiness Assessment of Hybrid-Electric Technologies for Tactical Wheeled Vehicles

    Science.gov (United States)

    2014-09-01

    reasonable yield within this decade. Similarly, the permanent magnet motors , which are desirable for traction due to their high efficiency, must also be...degrees C and 180 degrees C (RDECOM Public Affairs 2014). Current electric drive vehicles, using permanent magnet motors , have thermal limitations well...performance and their good efficiency, benefits particularly applicable to permanent magnet motors . Synchronous motors with permanent magnets, in

  2. Analysis and Design of a Permanent Magnet Bi-Stable Electro-Magnetic Clutch Unit for In-Wheel Electric Vehicle Drives

    Directory of Open Access Journals (Sweden)

    Wanli Cai

    2015-06-01

    Full Text Available Clutches have been used in internal combustion vehicles and concentrated electric vehicles (EVs to smoothen impulsion while starting and shifting. This paper proposes a permanent magnet bi-stable electromagnetic clutch unit (PMBECU which is specially introduced into in-wheel EVs to make the rigid connection between hub and wheel more flexible. Firstly, the operation principle of the PMBECU is illustrated. Then, the basic magnetic circuit model is presented and analyzed, followed by optimal design of the main structural parameters by investigating the PM leakage flux coefficient. Further, according to the basic electromagnetic characteristics of the PMBECU, the current pulse supply is put forward, and the minimum pulse width which enables the operation of the PMBECU and its dynamic characteristics are analyzed by an improved finite element method. Finally, a prototype machine is manufactured and tested to validate all the analysis results.

  3. Estimation of Longitudinal Force and Sideslip Angle for Intelligent Four-Wheel Independent Drive Electric Vehicles by Observer Iteration and Information Fusion.

    Science.gov (United States)

    Chen, Te; Chen, Long; Xu, Xing; Cai, Yingfeng; Jiang, Haobin; Sun, Xiaoqiang

    2018-04-20

    Exact estimation of longitudinal force and sideslip angle is important for lateral stability and path-following control of four-wheel independent driven electric vehicle. This paper presents an effective method for longitudinal force and sideslip angle estimation by observer iteration and information fusion for four-wheel independent drive electric vehicles. The electric driving wheel model is introduced into the vehicle modeling process and used for longitudinal force estimation, the longitudinal force reconstruction equation is obtained via model decoupling, the a Luenberger observer and high-order sliding mode observer are united for longitudinal force observer design, and the Kalman filter is applied to restrain the influence of noise. Via the estimated longitudinal force, an estimation strategy is then proposed based on observer iteration and information fusion, in which the Luenberger observer is applied to achieve the transcendental estimation utilizing less sensor measurements, the extended Kalman filter is used for a posteriori estimation with higher accuracy, and a fuzzy weight controller is used to enhance the adaptive ability of observer system. Simulations and experiments are carried out, and the effectiveness of proposed estimation method is verified.

  4. Well-to-wheels energy use and greenhouse gas emissions analysis of plug-in hybrid electric vehicles.

    Energy Technology Data Exchange (ETDEWEB)

    Elgowainy, A.; Burnham, A.; Wang, M.; Molburg, J.; Rousseau, A.; Energy Systems

    2009-03-31

    Researchers at Argonne National Laboratory expanded the Greenhouse gases, Regulated Emissions, and Energy use in Transportation (GREET) model and incorporated the fuel economy and electricity use of alternative fuel/vehicle systems simulated by the Powertrain System Analysis Toolkit (PSAT) to conduct a well-to-wheels (WTW) analysis of energy use and greenhouse gas (GHG) emissions of plug-in hybrid electric vehicles (PHEVs). The WTW results were separately calculated for the blended charge-depleting (CD) and charge-sustaining (CS) modes of PHEV operation and then combined by using a weighting factor that represented the CD vehicle-miles-traveled (VMT) share. As indicated by PSAT simulations of the CD operation, grid electricity accounted for a share of the vehicle's total energy use, ranging from 6% for a PHEV 10 to 24% for a PHEV 40, based on CD VMT shares of 23% and 63%, respectively. In addition to the PHEV's fuel economy and type of on-board fuel, the marginal electricity generation mix used to charge the vehicle impacted the WTW results, especially GHG emissions. Three North American Electric Reliability Corporation regions (4, 6, and 13) were selected for this analysis, because they encompassed large metropolitan areas (Illinois, New York, and California, respectively) and provided a significant variation of marginal generation mixes. The WTW results were also reported for the U.S. generation mix and renewable electricity to examine cases of average and clean mixes, respectively. For an all-electric range (AER) between 10 mi and 40 mi, PHEVs that employed petroleum fuels (gasoline and diesel), a blend of 85% ethanol and 15% gasoline (E85), and hydrogen were shown to offer a 40-60%, 70-90%, and more than 90% reduction in petroleum energy use and a 30-60%, 40-80%, and 10-100% reduction in GHG emissions, respectively, relative to an internal combustion engine vehicle that used gasoline. The spread of WTW GHG emissions among the different fuel production

  5. Evaluation of Severity Score in Patients with Lower Limb and Pelvic Fractures Injured in Motor Vehicle Front-Impact Collisions.

    Science.gov (United States)

    Gokalp, Mehmet Ata; Hekimoglu, Yavuz; Gozen, Abdurrahim; Guner, Savas; Asirdizer, Mahmut

    2016-12-01

    BACKGROUND Lower limb and pelvic injuries and fractures occur at a very high incidence in motor vehicle accidents. In this study, the characteristics (e.g., body side, bone location, and fracture severity) of lower limb and pelvic fractures that occurred during front-impact collisions were correlated with the injured patients' sex, age, and position in the vehicle. MATERIAL AND METHODS We retrospectively evaluated 191 patients (136 males, 55 females) who were injured in motor vehicle accidents, specifically in frontal collisions. RESULTS This study revealed that most of lower limb and pelvic fractures occurred in males (71.2%; p=.000), 19-36 years old (55.5%; p=.000), small vehicles (86.4%; p=.000), and rear seat passengers (49.2%; p=.000). Fractures most commonly occurred in the left side of the body (46.6%; p=.000) and upper legs (37.7%; p=.000). Severity scores were higher (2.76) in males than females (2.07). No statistically significant was found in severity scores of patients and other personal characteristics and fracture features of patients with lower limb and pelvic fractures who were injured in a vehicle during front-impact collisions (p>0.05). CONCLUSIONS The results of this study will be useful for the automobile industry, forensics and criminal scientists, and for trauma research studies.

  6. Distributed and self-adaptive vehicle speed estimation in the composite braking case for four-wheel drive hybrid electric car

    Science.gov (United States)

    Zhao, Z.-G.; Zhou, L.-J.; Zhang, J.-T.; Zhu, Q.; Hedrick, J.-K.

    2017-05-01

    Considering the controllability and observability of the braking torques of the hub motor, Integrated Starter Generator (ISG), and hydraulic brake for four-wheel drive (4WD) hybrid electric cars, a distributed and self-adaptive vehicle speed estimation algorithm for different braking situations has been proposed by fully utilising the Electronic Stability Program (ESP) sensor signals and multiple powersource signals. Firstly, the simulation platform of a 4WD hybrid electric car was established, which integrates an electronic-hydraulic composited braking system model and its control strategy, a nonlinear seven degrees-of-freedom vehicle dynamics model, and the Burckhardt tyre model. Secondly, combining the braking torque signals with the ESP signals, self-adaptive unscented Kalman sub-filter and main-filter adaptable to the observation noise were, respectively, designed. Thirdly, the fusion rules for the sub-filters and master filter were proposed herein, and the estimation results were compared with the simulated value of a real vehicle speed. Finally, based on the hardware in-the-loop platform and by picking up the regenerative motor torque signals and wheel cylinder pressure signals, the proposed speed estimation algorithm was tested under the case of moderate braking on the highly adhesive road, and the case of Antilock Braking System (ABS) action on the slippery road, as well as the case of ABS action on the icy road. Test results show that the presented vehicle speed estimation algorithm has not only a high precision but also a strong adaptability in the composite braking case.

  7. Experimental Semiautonomous Vehicle

    Science.gov (United States)

    Wilcox, Brian H.; Mishkin, Andrew H.; Litwin, Todd E.; Matthies, Larry H.; Cooper, Brian K.; Nguyen, Tam T.; Gat, Erann; Gennery, Donald B.; Firby, Robert J.; Miller, David P.; hide

    1993-01-01

    Semiautonomous rover vehicle serves as testbed for evaluation of navigation and obstacle-avoidance techniques. Designed to traverse variety of terrains. Concepts developed applicable to robots for service in dangerous environments as well as to robots for exploration of remote planets. Called Robby, vehicle 4 m long and 2 m wide, with six 1-m-diameter wheels. Mass of 1,200 kg and surmounts obstacles as large as 1 1/2 m. Optimized for development of machine-vision-based strategies and equipped with complement of vision and direction sensors and image-processing computers. Front and rear cabs steer and roll with respect to centerline of vehicle. Vehicle also pivots about central axle, so wheels comply with almost any terrain.

  8. Exploring the mechanisms of vehicle front-end shape on pedestrian head injuries caused by ground impact.

    Science.gov (United States)

    Yin, Sha; Li, Jiani; Xu, Jun

    2017-09-01

    In pedestrian-vehicle accidents, pedestrians typically suffer from secondary impact with the ground after the primary contact with vehicles. However, information about the fundamental mechanism of pedestrian head injury from ground impact remains minimal, thereby hindering further improvement in pedestrian safety. This study addresses this issue by using multi-body modeling and computation to investigate the influence of vehicle front-end shape on pedestrian safety. Accordingly, a simulation matrix is constructed to vary bonnet leading-edge height, bonnet length, bonnet angle, and windshield angle. Subsequently, a set of 315 pedestrian-vehicle crash simulations are conducted using the multi-body simulation software MADYMO. Three vehicle velocities, i.e., 20, 30, and 40km/h, are set as the scenarios. Results show that the top governing factor is bonnet leading-edge height. The posture and head injury at the instant of head ground impact vary dramatically with increasing height because of the significant rise of the body bending point and the movement of the collision point. The bonnet angle is the second dominant factor that affects head-ground injury, followed by bonnet length and windshield angle. The results may elucidate one of the critical barriers to understanding head injury caused by ground impact and provide a solid theoretical guideline for considering pedestrian safety in vehicle design. Copyright © 2017 Elsevier Ltd. All rights reserved.

  9. Preliminary Design of Reluctance Motors for Light Electric Vehicles Driving

    Directory of Open Access Journals (Sweden)

    TRIFA, V.

    2009-02-01

    Full Text Available The paper presents the aspects regarding FEM analysis of a reluctant motor for direct driving of the light electric vehicles. The reluctant motor take into study is of special construction suitable for direct drive of a light electric vehicle. It is an inverse radial reluctant motor, with a fixed stator mounted on front wheel shaft and an external toothed rotor fixed on the front wheel itself. A short presentation of preliminary design is continued with the FEM analysis in order to provide the optimal geometry of the motor and adequate windings.

  10. Study on Differential Regenerative Braking Torque Control to Increase the Stability of the Small Electric Vehicle with Four In-Wheel Motors

    Directory of Open Access Journals (Sweden)

    Ali N. M.

    2017-01-01

    Full Text Available Based on the advantages of the electric motor such as fast and precise torque response, the performance of the electric vehicle (EV can be improved. During braking or driving on the cornering, the vehicle will over steer or under steer if a car turns by more or less than the amount commanded by the driver. To improve the stability of the small EV with four in-wheel motors, the differential regenerative braking torque control is proposed. In this system, the regenerative braking torque at each wheel will be controlled individually based on the value of slip ratio. If the slip ratio is greater than the optimum value, the regenerative brake will turn off. In this situation, the electric motor will not produce the regenerative braking torque. Conversely, if the slip ratio lower than the optimum value, the regenerative brake will turn on and the electric motor will generate the regenerative braking torque. In the numerical analysis, to investigate the effectiveness of the proposed model, the road condition is set to an icy road on the left tire and dry asphalt on the right tire. From the simulation results, the differential regenerative braking torque control can prevent the tire from lock-up and avoid the vehicle from skidding.

  11. Mechanical Design Engineering Enabler Project wheel and wheel drives

    Science.gov (United States)

    Nutt, Richard E.; Couch, Britt K.; Holley, John L., Jr.; Garris, Eric S.; Staut, Paul V.

    1992-01-01

    Our group was assigned the responsibility of designing the wheel and wheel drive system for a proof-of-concept model of the lunar-based ENABLER. ENABLER is a multi-purpose, six wheeled vehicle designed to lift and transport heavy objects associated with the construction of a lunar base. The resulting design was based on the performance criteria of the ENABLER. The drive system was designed to enable the vehicle to achieve a speed of 7 mph on a level surface, climb a 30 percent grade, and surpass a one meter high object and one meter wide crevice. The wheel assemblies were designed to support the entire weight of the vehicle on two wheels. The wheels were designed to serve as the main component of the vehicle's suspension and will provide suitable traction for lunar-type surfaces. The expected performance of the drive system for the ENABLER was influenced by many mechanical factors. The expected top speed on a level sandy surface is 4 mph instead of the desired 7 mph. This is due to a lack of necessary power at the wheels. The lack of power resulted from dimension considerations that allowed only an eight horsepower engine and also from mechanical inefficiencies of the hydraulic system. However, the vehicle will be able to climb a 30 percent grade, surpass a one meter high object and one meter wide crevice. The wheel assemblies will be able to support the entire weight of the vehicle on two wheels. The wheels will also provide adequate suspension for the vehicle and sufficient traction for lunar-type surfaces.

  12. Control allocation for for regenerative braking of electric vehicles with an electric motor at the front axle using the state-dependent Riccati equation control technique

    NARCIS (Netherlands)

    Kanarachos, S.A.; Alirezaei, M.; Jansen, S.T.H.; Maurice, J.P.

    2014-01-01

    In this paper the systematic development of an integrated braking controller for a vehicle driven by an electric motor on the front axle is presented. The objective is to engage the electric motor only during braking, up to the point at which the vehicle reaches its manoeuvrability and stability

  13. Impact of improving vehicle front design on the burden of pedestrian injuries in Germany, the United States, and India.

    Science.gov (United States)

    Moran, Dane; Bose, Dipan; Bhalla, Kavi

    2017-11-17

    European car design regulations and New Car Assessment Program (NCAP) ratings have led to reductions in pedestrian injuries. The aim of this study was to evaluate the impact of improving vehicle front design on mortality and morbidity due to pedestrian injuries in a European country (Germany) and 2 countries (the United States and India) that do not have pedestrian-focused NCAP testing or design regulations. We used data from the International Road Traffic and Accident Database and the Global Burden of Disease project to estimate baseline pedestrian deaths and nonfatal injuries in each country in 2013. The effect of improved passenger car star ratings on probability of pedestrian injury was based on recent evaluations of pedestrian crash data from Germany. The effect of improved heavy motor vehicle (HMV) front end design on pedestrian injuries was based on estimates reported by simulation studies. We used burden of disease methods to estimate population health loss by combining the burden of morbidity and mortality in disability-adjusted life years (DALYs) lost. Extrapolating from evaluations in Germany suggests that improving front end design of cars can potentially reduce the burden of pedestrian injuries due to cars by up to 24% in the United States and 41% in India. In Germany, where cars comply with the United Nations regulation on pedestrian safety, additional improvements would have led to a 1% reduction. Similarly, improved HMV design would reduce DALYs lost by pedestrian victims hit by HMVs by 20% in each country. Overall, improved vehicle design would reduce DALYs lost to road traffic injuries (RTIs) by 0.8% in Germany, 4.1% in the United States, and 6.7% in India. Recent evaluations show a strong correlation between Euro NCAP pedestrian scores and real-life pedestrian injuries, suggesting that improved car front end design in Europe has led to substantial reductions in pedestrian injuries. Although the United States has fewer pedestrian crashes, it would

  14. Proposal to use vibration analysis steering components and car body to monitor, for example, the state of unbalance wheel

    Science.gov (United States)

    Janczur, R.

    2016-09-01

    The results of road tests of car VW Passat equipped with tires of size 195/65 R15, on the influence of the unbalancing front wheel on vibration of the parts of steering system, steering wheel and the body of the vehicle have been presented in this paper. Unbalances wheels made using weights of different masses, placed close to the outer edge of the steel rim and checked on the machine Hunter GSP 9700 for balancing wheels. The recorded waveforms vibration steering components and car body, at different constant driving speeds, subjected to spectral analysis to determine the possibility of isolating vibration caused by unbalanced wheel in various states and coming from good quality asphalt road surface. The results were discussed in terms of the possibility of identifying the state of unbalancing wheels and possible changes in radial stiffness of the tire vibration transmitted through the system driving wheel on the steering wheel. Vibration analysis steering components and car body, also in the longitudinal direction, including information from the CAN bus of the state of motion of the car, can be used to monitor the development of the state of unbalance wheel, tire damage or errors shape of brake discs or brake drums, causing pulsations braking forces.

  15. Remote operated vehicle with carbon dioxide blasting (ROVCO2)

    International Nuclear Information System (INIS)

    Resnick, A.M.

    1995-01-01

    The Remote Operated Vehicle with Carbon Dioxide Blasting (ROVCO 2 ), as shown in a front view, is a six-wheeled remote land vehicle used to decontaminate concrete floors. The remote vehicle has a high pressure Cryogenesis blasting subsystem, Oceaneering Technologies (OTECH) developed a CO 2 xY Orthogonal Translational End Effector (COYOTEE) subsystem, and a vacuum/filtration and containment subsystem. Figure 2 shows a block diagram with the various subsystems labeled

  16. Front versus rear seat placement of children aged 12 or younger within vehicles: a rural/urban comparison in North Dakota.

    Science.gov (United States)

    Huseth-Zosel, Andrea L

    2012-01-01

    Research has shown that rear-seated children are 36 to 40 percent safer than front-seated children. Because of the substantial differences in traffic safety culture that appear to exist in rural areas and the limited research regarding seat placement and rurality, this study seeks to contribute to the safety literature by determining at what rate children are riding in the front seat and whether differences exist between rural and urban areas in regards to child front seat placement. Current child placement frequencies within vehicles were ascertained through direct observations of morning child drop-offs at randomly selected urban and rural elementary schools in eastern North Dakota during November and December of 2009, with a focus on children aged 12 or younger. Two observers wearing orange safety vests and carrying observation sheets were stationed at each elementary school a minimum of 45 min prior to each school's designated start time. Based on the vehicles that entered the school's parking lot/drop-off circle and from which a minimum of one child exited, observers were instructed to record vehicle type, presence of children in the front seat appearing to be younger than 13 years old, availability of room in the back seat, and placement of other children in the vehicle. During November and December of 2009 a total of 537 vehicles were observed at urban schools and 150 vehicles were observed at rural schools. Of the 537 vehicles observed at urban schools, 28.7 percent had children seated in the front seat, whereas 41.3 percent of the 150 vehicles observed at rural schools had front-seated children. Significant urban/rural differences exist in child seat placement, with vehicles in rural areas much more likely to be carrying front-seated children than vehicles in urban areas. Based on a sample of vehicles observed at urban and rural elementary schools in North Dakota, the results of this study indicate that there are significant rural/urban differences in

  17. Desempenho operacional de trator com tração dianteira auxiliar na subsolagem de um inceptisol Performance of a front wheel drive tractor in the subsoiling operation in an inceptisol

    Directory of Open Access Journals (Sweden)

    Neyton de Oliveira Miranda

    2000-04-01

    Full Text Available Na subsolagem de um solo da ordem dos Inceptisol (Cambissolos usando um trator com tração dianteira auxiliar, foram comparados pneus de duas idades, duas rotações do motor e duas marchas, além do uso ou não do bloqueio do diferencial. Mediram-se velocidade de deslocamento, patinagem das rodas traseiras, tempo operacional teórico e consumo de combustível por hora e por área trabalhada. O uso do bloqueio do diferencial não influiu significativamente em nenhum parâmetro estudado e o de pneus novos resultou em desempenho do trator superior em relação aos pneus desgastados, para todos os parâmetros estudados. A rotação do motor de 1.800 rpm reduziu a patinagem e o consumo de combustível por hora e por área trabalhada em relação a 2.000 rpm, enquanto o uso da quarta marcha reduziu o tempo operacional teórico e o consumo de combustível por área trabalhada em relação à terceira marcha.In the subsoiling operation in an Inceptisol with a front wheel drive tractor, worn and new tyres, two engine speeds, two gear ratios and the use or not of the differential lock, were compared. Travel speed, rear wheel slip, theoretical field time, and fuel consumption per hour as well as per worked area were measured. The differential lock did not influence significantly any studied parameter. New tires were superior to worn ones for all parameters. Engine speed of 1800 rpm reduced wheel slip, fuel consumption per hour and per hectare compared with 2000 rpm. Fourth gear reduced the theoretical field time and fuel consumption per hectare compared to third gear.

  18. 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.

  19. Analysis of self-oscillations of the wheeled vehicle model when driving on a straight-line segment of the overpass

    Directory of Open Access Journals (Sweden)

    Sakhno V.P.

    2016-08-01

    Full Text Available There is the problem of traffic congestion of large cities of Ukraine. The introduction of the monorail will solve this problem. To ensure the comfort and safety of the transport of passengers it is proposed to investigate the lateral stability of this type of transportation, namely, to consider the question of self-oscillations. An approximate analysis of the amplitudes of oscillation of the model "one-wheeled" vehicle when driving on a straight-line segment of the overpass was performed. The diagram of the amplitudes of the oscillation system, which is received when changing the longitudinal speed of the crew allows us to estimate the influence of structural parameters of the system on the boundary of oscillatory instability and the amplitude of oscillation occurring. Rational selection of parameters of the transverse stiffness of the guide wheel module according to this method is consistent with the previously obtained research results. On the basis of the offered analytically-numerical method it is proved that rational choice of design parameters of systems that enable sustainable movement in the range operating speed (the maximum constructional speed of V = 140 km/h, moreover, security buckling when exceeding this speed. The amplitude of oscillation in excess of a critical value of the velocity parameter increases monotonically and does not exceed 3°, with V = 280 km/h.

  20. A method and instruments to identify the torque, the power and the efficiency of an internal combustion engine of a wheeled vehicle

    Science.gov (United States)

    Egorov, A. V.; Kozlov, K. E.; Belogusev, V. N.

    2018-01-01

    In this paper, we propose a new method and instruments to identify the torque, the power, and the efficiency of internal combustion engines in transient conditions. This method, in contrast to the commonly used non-demounting methods based on inertia and strain gauge dynamometers, allows controlling the main performance parameters of internal combustion engines in transient conditions without inaccuracy connected with the torque loss due to its transfer to the driving wheels, on which the torque is measured with existing methods. In addition, the proposed method is easy to create, and it does not use strain measurement instruments, the application of which does not allow identifying the variable values of the measured parameters with high measurement rate; and therefore the use of them leads to the impossibility of taking into account the actual parameters when engineering the wheeled vehicles. Thus the use of this method can greatly improve the measurement accuracy and reduce costs and laboriousness during testing of internal combustion engines. The results of experiments showed the applicability of the proposed method for identification of the internal combustion engines performance parameters. In this paper, it was determined the most preferred transmission ratio when using the proposed method.

  1. Continuous Steering Stability Control Based on an Energy-Saving Torque Distribution Algorithm for a Four in-Wheel-Motor Independent-Drive Electric Vehicle

    Directory of Open Access Journals (Sweden)

    Li Zhai

    2018-02-01

    Full Text Available In this paper, a continuous steering stability controller based on an energy-saving torque distribution algorithm is proposed for a four in-wheel-motor independent-drive electric vehicle (4MIDEV to improve the energy consumption efficiency while maintaining the stability in steering maneuvers. The controller is designed as a hierarchical structure, including the reference model level, the upper-level controller, and the lower-level controller. The upper-level controller adopts the direct yaw moment control (DYC, which is designed to work continuously during the steering maneuver to better ensure steering stability in extreme situations, rather than working only after the vehicle is judged to be unstable. An adaptive two-hierarchy energy-saving torque distribution algorithm is developed in the lower-level controller with the friction ellipse constraint as a basis for judging whether the algorithm needs to be switched, so as to achieve a more stable and energy-efficient steering operation. The proposed stability controller was validated in a co-simulation of CarSim and Matlab/Simulink. The simulation results under different steering maneuvers indicate that the proposed controller, compared with the conventional servo controller and the ordinary continuous controller, can reduce energy consumption up to 23.68% and improve the vehicle steering stability.

  2. Comparative analysis of the operation efficiency of the continuous and relay control systems of a multi-axle wheeled vehicle suspension

    Science.gov (United States)

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

    2018-02-01

    In order to improve the efficiency of the multi-axle wheeled vehicles (MWV) automotive engineers are increasing their cruising speed. One of the promising ways to improve ride comfort of the MWV is the development of the dynamic active suspension systems and control laws for such systems. Here, by the dynamic control systems we mean the systems operating in real time mode and using current (instantaneous) values of the state variables. The aim of the work is to develop the MWV suspension optimal control laws that would reduce vibrations on the driver’s seat at kinematic excitation. The authors have developed the optimal control laws for damping the oscillations of the MWV body. The developed laws allow reduction of the vibrations on the driver’s seat and increase in the maximum speed of the vehicle. The laws are characterized in that they allow generating the control inputs in real time mode. The authors have demonstrated the efficiency of the proposed control laws by means of mathematical simulation of the MWV driving over unpaved road with kinematic excitation. The proposed optimal control laws can be used in the MWV suspension control systems with magnetorheological shock absorbers or controlled hydropneumatic springs. Further evolution of the research line can be the development of the energy-efficient MWV suspension control systems with continuous control input on the vehicle body.

  3. Direct Yaw-Moment Control of All-Wheel-Independent-Drive Electric Vehicles with Network-Induced Delays through Parameter-Dependent Fuzzy SMC Approach

    Directory of Open Access Journals (Sweden)

    Wanke Cao

    2017-01-01

    Full Text Available This paper investigates the robust direct yaw-moment control (DYC through parameter-dependent fuzzy sliding mode control (SMC approach for all-wheel-independent-drive electric vehicles (AWID-EVs subject to network-induced delays. AWID-EVs have obvious advantages in terms of DYC over the traditional centralized-drive vehicles. However it is one of the most principal issues for AWID-EVs to ensure the robustness of DYC. Furthermore, the network-induced delays would also reduce control performance of DYC and even deteriorate the EV system. To ensure robustness of DYC and deal with network-induced delays, a parameter-dependent fuzzy sliding mode control (FSMC method based on the real-time information of vehicle states and delays is proposed in this paper. The results of cosimulations with Simulink® and CarSim® demonstrate the effectiveness of the proposed controller. Moreover, the results of comparison with a conventional FSMC controller illustrate the strength of explicitly dealing with network-induced delays.

  4. Reconstruction of braking force in vehicles with electromechanically actuated wheel brakes; Rekonstruktion der Bremskraft bei Fahrzeugen mit elektromechanisch betaetigten Radbremsen

    Energy Technology Data Exchange (ETDEWEB)

    Schwarz, R.

    1999-07-01

    Modern braking systems have a variety of functions, but implementation of the enhanced functionality with conventional hydraulic systems is difficult because of electronic actuation. The car industry therefore is working on new braking systems in which the braking force is generated individually on the wheels by means of electromechanical actuators. Owing to their nonlinear characteristics and variable braking efficiency, electromechanically actuated wheel brakes must be operated in a closed control loop. The author presents a low-cost method for reconstruction of the braking force which is required for efficient control. [German] Aufgrund des gestiegenen Sicherheits- und Komfortbewusstseins der Fahrzeugkaeufer ist die Funktionsvielfalt moderner Bremssysteme in den letzten Jahren staendig gewachsen. Die Umsetzung der erweiterten Funktionalitaet mittels konventioneller Bremsenhydraulik ist jedoch durch den elektronischen Eingriff sehr aufwendig. - Von der Automobilzulieferindustrie werden daher neuartige Bremssysteme entwickelt, bei denen die Bremskraft an den einzelnen Raedern von elektromechanischen Bremsaktuatoren aufgebracht wird. - Elektromechanisch betaetigte Radbremsen muessen aufgrund ihres nichtlinearen Verhaltens und des veraenderlichen Wirkungsgrades im geschlossenen Regelkreis betrieben werden. In dieser Arbeit wird erstmals ein Verfahren vorgestellt, mit dem die fuer die Regelung benoetigte Rueckfuehrungsgroesse Bremskraft kostenguenstig rekonstruiert werden kann. (orig.)

  5. Adaptive regenerative braking for electric vehicles with an electric motor at the front axle using the state dependent Riccati equation control technique

    NARCIS (Netherlands)

    Jansen, S.; Alirezaei, M.; Kanarachos, S.

    2014-01-01

    In this paper a novel adaptive regenerative braking control concept for electric vehicles with an electric motor at the front axle is presented. It is well known that the "phased" type regenerative braking systems of category B maximize the amount of regenerative energy during braking. However,

  6. Reliability Analysis and Modeling of the U.S. Marine Corps Medium Tactical Wheeled Vehicle in Operation Iraqi Freedom

    National Research Council Canada - National Science Library

    Reuter, Matthew B

    2007-01-01

    .... Analysis and modeling of this repairable system's failure modes are conducted at the MTVR variant, major unit, armored status, and subsystem levels to develop an understanding of the vehicle's usage...

  7. Assessing and Predicting Erosion from Off Highway Vehicle Trails in Front-Range Rocky Mountain Watersheds.

    Science.gov (United States)

    Howard, M. J.; Silins, U.; Anderson, A.

    2016-12-01

    Off highway vehicle (OHV) trails have the potential to deliver sediment to sensitive headwater streams and increased OHV use is a growing watershed management concern in many Rocky Mountain regions. Predictive tools for estimating erosion and sediment inputs are needed to support assessment and management of erosion from OHV trail networks. The objective of this study was to a) assess erodibility (K factor) and total erosion from OHV trail networks in Rocky Mountain watersheds in south-west Alberta, Canada, and to b) evaluate the applicability of the Universal Soil Loss Equation (USLE) for predicting OHV trail erosion to support erosion management strategies. Measured erosion rates and erodibility (K) from rainfall simulation plots on OHV trails during the summers of 2014 and 2015 were compared to USLE predicted erosion from these same trails. Measured erodibility (K) from 23 rainfall simulation plots was highly variable (0.001-0.273 Mg*ha*hr/ha*MJ*mm) as was total seasonal erosion from 52 large trail sections (0.0595-43.3 Mg/ha) across trail segments of variable slope, stoniness, and trail use intensity. In particular, intensity of trail use had a large effect on both erodibility and total erosion that is not presently captured by erodibility indices (K) derived from soil characteristics. Results of this study suggest that while application of USLE for predicting erosion from OHV trail networks may be useful for initial coarse erosion assessment, a better understanding of the effect of factors such as road/trail use intensity on erodibility is needed to support use of USLE or associated erosion prediction tools for road/trail erosion management.

  8. Multi-Objective Sliding Mode Control on Vehicle Cornering Stability with Variable Gear Ratio Actuator-Based Active Front Steering Systems

    Science.gov (United States)

    Ma, Xinbo; Wong, Pak Kin; Zhao, Jing; Xie, Zhengchao

    2016-01-01

    Active front steering (AFS) is an emerging technology to improve the vehicle cornering stability by introducing an additional small steering angle to the driver’s input. This paper proposes an AFS system with a variable gear ratio steering (VGRS) actuator which is controlled by using the sliding mode control (SMC) strategy to improve the cornering stability of vehicles. In the design of an AFS system, different sensors are considered to measure the vehicle state, and the mechanism of the AFS system is also modelled in detail. Moreover, in order to improve the cornering stability of vehicles, two dependent objectives, namely sideslip angle and yaw rate, are considered together in the design of SMC strategy. By evaluating the cornering performance, Sine with Dwell and accident avoidance tests are conducted, and the simulation results indicate that the proposed SMC strategy is capable of improving the cornering stability of vehicles in practice. PMID:28036037

  9. 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.

  10. A Study of the Effect of the Front-End Styling of Sport Utility Vehicles on Pedestrian Head Injuries

    Directory of Open Access Journals (Sweden)

    Guanjun Zhang

    2018-01-01

    Full Text Available Background. The number of sport utility vehicles (SUVs on China market is continuously increasing. It is necessary to investigate the relationships between the front-end styling features of SUVs and head injuries at the styling design stage for improving the pedestrian protection performance and product development efficiency. Methods. Styling feature parameters were extracted from the SUV side contour line. And simplified finite element models were established based on the 78 SUV side contour lines. Pedestrian headform impact simulations were performed and validated. The head injury criterion of 15 ms (HIC15 at four wrap-around distances was obtained. A multiple linear regression analysis method was employed to describe the relationships between the styling feature parameters and the HIC15 at each impact point. Results. The relationship between the selected styling features and the HIC15 showed reasonable correlations, and the regression models and the selected independent variables showed statistical significance. Conclusions. The regression equations obtained by multiple linear regression can be used to assess the performance of SUV styling in protecting pedestrians’ heads and provide styling designers with technical guidance regarding their artistic creations.

  11. Dual Mode Vehicle with In-Wheel Motor: Regenerative Braking Optimization Véhicule bi-mode avec moteurs roues : optimisation du freinage récupératif

    Directory of Open Access Journals (Sweden)

    Le Solliec G.

    2013-03-01

    Full Text Available To meet the growing need for mobility of people and goods while massively reducing CO2 emissions, the electrification of vehicles is an essential solution. The variety of vehicles and their use results in innovative solutions for adapted architecture. This is especially true for light commercial vehicles where the objective is to promote full electric use in urban conditions (zero emission vehicle while maintaining significant range autonomy on road. The project VelRoue, a partnership between Renault, Michelin and IFP Energies nouvelles, aims to develop a dedicated dual-mode vehicle using a conventional thermal powertrain on the front axle and in-wheel motors on the rear one each powertrain to its use and makes it possible to achieve a low level of homologation CO2 emissions. In addition to features that meet the specific use of a commercial vehicle, in this paper we will particularly demonstrate the benefit of such an architecture to optimize the regenerative braking while ensuring a safe dynamic behaviour. Pour faire face au besoin croissant de mobilité des personnes et des biens tout en réduisant massivement les émissions de CO2, l’électrification des véhicules est une solution majeure. La grande variété des véhicules et de leur utilisation conduit à la mise en place d’architectures adaptées et donc de solutions innovantes. Cela est particulièrement le cas pour le développement de véhicules utilitaires dont l’objectif est de promouvoir un usage tout électrique en ville (véhicule zéro émission tout en maintenant une autonomie significative pour un usage extra-urbain. Le projet VelRoue, un partenariat entre Renault, Michelin et IFP Energies nouvelles, a pour objectif le développement d’un véhicule utilitaire bi-mode utilisant un groupe motopropulseur thermique traditionnel sur le train avant et des moteurs roues sur le train arrière. Chaque système de propulsion sera alors séparément optimisé à son utilisation

  12. High-Mobility Multipurpose Wheeled Vehicle Rollover Accidents and Injuries to U.S. Army Soldiers by Reported Occupant Restraint Use, 1992-2013.

    Science.gov (United States)

    Lo, Michael C; Giffin, Robert P; Pakulski, Kraig A; Davis, W Sumner; Bernstein, Stephen A; Wise, Daniel V

    2017-05-01

    The high-mobility multipurpose wheeled vehicle (HMMWV) is a light military tactical vehicle. During Operation Iraqi Freedom and Operation Enduring Freedom, the U.S. Army modified the HMMWV into a combat vehicle by adding vehicle armor, which made the vehicle more difficult to control and more likely to roll over. Consequently, reports of fatal rollover accidents involving up-armored HMMWVs began to accumulate during the up-armoring period (August 2003 to April 2005). Furthermore, the lack of occupant restraint use prevalent in a predominantly young, male, and enlisted military population compounded the injuries resulting from these accidents. In this retrospective case series analysis, we describe the characteristics of U.S. Army HMMWV rollover accidents, occupants, and injuries reported worldwide from fiscal year 1992 to 2013 based on reported occupant restraint use. We conducted all analyses using Microsoft Excel 2010 and SAS version 9.1. Because this analysis does not constitute human subjects research, no institutional review board review was required. First, we obtained U.S. Army HMMWV accident records from the U.S. Army Combat Readiness Center, and selected those records indicating a HMMWV rollover had occurred. Next, we successively deduplicated the records at the accident, vehicle, occupant, and injury levels for descriptive analysis of characteristics at each level. For each occupant position, we calculated relative, attributable, and population attributable risks of nonfatal and fatal injury based on reported occupant restraint use. Finally, we analyzed body part injured and nature of injury to characterize the injury patterns that HMMWV occupants in each position sustained based on restraint use. We performed a χ 2 test of homogeneity to assess differences in injury patterns between restrained and unrestrained occupants. A total of 819 U.S. Army HMMWV rollover accidents worldwide were reported from October 1991 through May 2013 involving 821 HMMWVs and

  13. Kinematics and dynamics modelling of a mecanum wheeled mobile platform

    CSIR Research Space (South Africa)

    Tlale, NS

    2008-12-01

    Full Text Available analysis for mecanum wheeled mobile platform same time during the operation of the mobile platform, a maximum of eighty-one combinations of wheels (four wheels: 1,2, 3 and 4) and directions of rotational velocity of wheels (three directions of rotation... = I ’ (15) where ai is a constant depending on the wheel number and ai = -1 for i = 1 and 4, and ai = 1 for i = 2 and 3, T is the torque developed on the vehicle that changes the posture of the vehicle, I is the mass inertia of the vehicle...

  14. 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.

  15. Wheels With Sense

    Science.gov (United States)

    Cambridge, Dwayne; Clauss, Douglas; Hewson, Fraser; Brown, Robert; Hisrich, Robert; Taylor, Cyrus

    2002-10-01

    We describe a student intrapreneurial project in the Physics Entrepreneurship Program at Case Western Reserve University. At the request of a major fortune 100 company, a study has been made of the technical and marketing issues for a new business of selling sensors on commercial vehicle wheels for monitoring pressure, temperature, rotations, and vibrations, as well as providing identification. The nature of the physics involved in the choice of the appropriate device such as capacitive or piezoresistive sensors is discussed, along with the possibility of MEMS (micro-electro-mechanical systems) technology and RFID (radiofrequency identification) readout on wheels. Five options (status quo, in-house development, external business acquisition, a large business national partnership, and a small-business Cleveland consortium partnership) were studied from both technological and business perspectives to commercialize the technology. The decision making process for making a choice is explained.

  16. Development of Regenerative Braking Co-operative Control System for Automatic Transmission-based Hybrid Electric Vehicle using Electronic Wedge Brake

    OpenAIRE

    Ko, Jiweon; Ko, Sungyeon; Bak, Yongsun; Jang, Mijeong; Yoo, Byoungsoo; Cheon, Jaeseung; Kim, Hyunsoo

    2013-01-01

    This research proposes a regenerative braking co-operative control system for the automatic transmission (AT)-based hybrid electric vehicle (HEV). The brake system of the subject HEV consists of the regenerative braking and the electronic wedge brake (EWB) friction braking for the front wheel, and the hydraulic friction braking for the rear wheel. A regenerative braking co-operative control algorithm is suggested for the regenerative braking and friction braking, which distributes the braking...

  17. Two new wheels for ATLAS

    CERN Multimedia

    2002-01-01

    Juergen Zimmer (Max Planck Institute), Roy Langstaff (TRIUMF/Victoria) and Sergej Kakurin (JINR), in front of one of the completed wheels of the ATLAS Hadronic End Cap Calorimeter. A decade of careful preparation and construction by groups in three continents is nearing completion with the assembly of two of the four 4 m diameter wheels required for the ATLAS Hadronic End Cap Calorimeter. The first two wheels have successfully passed all their mechanical and electrical tests, and have been rotated on schedule into the vertical position required in the experiment. 'This is an important milestone in the completion of the ATLAS End Cap Calorimetry' explains Chris Oram, who heads the Hadronic End Cap Calorimeter group. Like most experiments at particle colliders, ATLAS consists of several layers of detectors in the form of a 'barrel' and two 'end caps'. The Hadronic Calorimeter layer, which measures the energies of particles such as protons and pions, uses two techniques. The barrel part (Tile Calorimeter) cons...

  18. Elevator wheel

    Energy Technology Data Exchange (ETDEWEB)

    Zhornik, V.I.; Cherkov, Ye.M.; Simonov, A.A.

    1982-01-01

    An elevator wheel is suggested for unloading a sunken product from a bath of a heavy-average separator including discs of a bucket with inner walls, and covering sheets hinged to the buckets. In order to improve the degree of dehydration of the removed product, the inner wall of each bucket is made of sheets installed in steps with gaps of one in relation to the other.

  19. Word wheels

    CERN Document Server

    Clark, Kathryn

    2013-01-01

    Targeting the specific problems learners have with language structure, these multi-sensory exercises appeal to all age groups including adults. Exercises use sight, sound and touch and are also suitable for English as an Additional Lanaguage and Basic Skills students.Word Wheels includes off-the-shelf resources including lesson plans and photocopiable worksheets, an interactive CD with practice exercises, and support material for the busy teacher or non-specialist staff, as well as homework activities.

  20. The Design of a Permanent Magnet In-Wheel Motor with Dual-Stator and Dual-Field-Excitation Used in Electric Vehicles

    Directory of Open Access Journals (Sweden)

    Peng Gao

    2018-02-01

    Full Text Available The in-wheel motor has received more attention owing to its simple structure, high transmission efficiency, flexible control, and easy integration design. It is difficult to achieve high performance with conventional motors due to their dimensions and structure. This paper presents a new dual-stator and dual-field-excitation permanent-magnet in-wheel motor (DDPMIM that is based on the structure of the conventional in-wheel motor and the structure of both the radial and axial magnetic field motor. The finite element analysis (FEA model of the DDPMIM is established and compared with that of the conventional in-wheel motor. The results show that the DDPMIM achieves a higher output torque at low speeds and that the flux-weakening control strategy is not needed in the full speed range.

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

    Science.gov (United States)

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

    2014-01-01

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

  2. Biaxial wheel/hub test facility. Proceedings

    Energy Technology Data Exchange (ETDEWEB)

    Fischer, G.; Grubisic, V. [eds.

    2000-07-01

    The 4{sup th} meeting aims to exchange the experience and knowledge of engineers during several presentations and discussions about new developments required for a reliable, time and cost reducing validation of the wheel/hub assembly. Tremendous development of the wheel performance, described by the ratio of the rated load (kg) versus the wheel weight (kg) had taken place during the last 5000 years. Starting from the ratio of 3 for wooden 2-piece-disc-wheels in Mesopotamia it needed nearly 1000 years to increase the ratio to approx 5 at light-weight spoke wheels for fighting carriages, found in the grave of king Tutenchamon in Egypt. Modern light alloy wheels of commercial vehicles reach values up to 160 kg/kg. Additionally the comlex design of the modern systems for cars and commercial vehicles comprising wheel, brake, hub, bearing, spindle and hub carrier, including different materials and their treatment, fasteners, press-fits, require an appropriate testing procedure. The variable loading conditions, caused by operational wheel forces, brake and torque moments including heating, may result in changing tolerances and press-fits during operation and consequently in different damage mechanisms. This can be simulated in the Biaxial Wheel Test Machine, whereby corresponding load programs are necessary. An overview about all biaxial test machines in usage at the end of 1999 is shown in the introduction. The total number is 17 for cars, 7 for commercial vehicles and 1 for trains. The six presentations of this meeting were consequently concentrated on: (a) recommendations for a standardization of load programs of the German Wheel Committee, (b) the simulation of brake and torque events and (c) the possibility for a numerical stress analyses and fatigue life assessment. (orig./AKF)

  3. Effects of vehicle front-end stiffness on rear seat dummies in NCAP and FMVSS208 tests.

    Science.gov (United States)

    Sahraei, Elham; Digges, Kennerly; Marzougui, Dhafer

    2013-01-01

    This study is devoted to quantifying changes in mass and stiffness of vehicles tested by the National Highway Traffic Safety Administration (NHTSA) over the past 3 decades (model years 1982 to 2010) and understanding the effect of those changes on protection of rear seat occupants. A total of 1179 tests were used, and the changes in their mass and stiffness versus their model year was quantified. Additionally, data from 439 dummies tested in rear seats of NHTSA's full frontal crashes were analyzed. Dummies were divided into 3 groups based on their reference injury criteria. Multiple regressions were performed with speed, stiffness, and mass as predicting variables for head, neck, and chest injury criteria. A significant increase in mass and stiffness over model year of vehicles was observed, for passenger cars as well as large platform vehicles. The result showed a significant correlation (P-value < .05) between the increase in stiffness of the vehicles and increase in head and chest injury criteria for all dummy sizes. These results explain that stiffness is a significant contributor to previously reported decreases in protection of rear seat occupants over model years of vehicles.

  4. System design and energetic characterization of a four-wheel-driven series–parallel hybrid electric powertrain for heavy-duty applications

    International Nuclear Information System (INIS)

    Wang, Enhua; Guo, Di; Yang, Fuyuan

    2015-01-01

    Highlights: • A novel four-wheel-driven series–parallel hybrid powertrain is proposed. • A system model and a rule-based control strategy are designed. • Energetic performance is compared to a rear-wheel-driven hybrid powertrain. • Less torsional oscillation and more robust regenerative braking are achieved. - Abstract: Powertrain topology design is vital for system performance of a hybrid electric vehicle. In this paper, a novel four-wheel-driven series–parallel hybrid electric powertrain is proposed. A motor is connected to the differential of the rear axle. An auxiliary power unit is linked to the differential of the front axle via a clutch. First, a mathematical model was established to evaluate the fuel-saving potential. A rule-based energy management algorithm was subsequently designed, and its working parameters were optimized. The hybrid powertrain system was applied to a transit bus, and the system characteristics were analyzed. Compared to an existing coaxial power-split hybrid powertrain, the fuel economy of the four-wheel-driven series–parallel hybrid powertrain can be at the same level under normal road conditions. However, the proposed four-wheel-driven series–parallel hybrid powertrain can recover braking energy more efficiently under road conditions with a low adhesive coefficient and can alleviate the torsional oscillation occurring at the existing coaxial power-split hybrid powertrain. Therefore, the four-wheel-driven series–parallel hybrid powertrain is a good solution for transit buses toward more robust performance.

  5. Consideration on the dynamics of course-driver-vehicle system of four-wheel steering vehicles. annex. Static directional stability and approximation of general motion by chain of steady-state circular turns; 4WS sha no shinro-driver-jidoshakei no undo rikigaku ni kansuru ichikosatsu. Seiteki hoko anteisei oyobi teijoen senkai de tsunagu kinjisei no kento

    Energy Technology Data Exchange (ETDEWEB)

    Togo, K [Yomiuri Koto Institute of Science and Engineering, Tokyo (Japan); Kondo, M [Tokyo Institute of Technology, Tokyo (Japan)

    1997-10-01

    One of the authors intended before to understand the fundamentals of automobile steering emphasizing the importance of the driver`s forward view point. This idea was called Kondo`s hypothesis by several Professors and has been used and developed by many researchers in Japan. Using this thought, dynamical properties and steering of four-wheel steering vehicles, of which two points of the vehicle`s body can trace the designated course, are studied in this paper. Some numerical calculations have shown the tendency similar to the actual steering now used by a Japanese manufacturer. This idea would be useful in the automatic driving systems such as ITS. 4 refs., 3 tabs., 1 tab.

  6. Wheel slip dump valve for railway braking system

    Science.gov (United States)

    Zhang, Xuan; Zhang, LiHao; Li, QingXuan; Shi, YanTao

    2017-09-01

    As we all know, pneumatic braking system plays an important role in the safety of the whole vehicle. In the anti slip braking system, the pressure of braking cylinder can be adjusted by the quick power response of wheel slip dump valve, so that the lock situation won’t occur during vehicle service. During the braking of railway vehicles, the braking force provided by braking disc reduces vehicle’s speed. But the locking slip will happen due to the oversize of braking force or the reduction of sticking coefficient between wheel and rail. It will cause not only the decline of braking performance but also the increase of braking distance. In the meanwhile, it will scratch the wheel and influence the stable running of vehicles. Now, the speed of passenger vehicle has been increased. In order to shorten the braking distance as far as possible, sticking stickiness must be fully applied. So the occurrence probability of wheel slip is increased.

  7. Wheel traffic effect on air-filled porosity and air permeability in a soil catena across the wheel rut

    DEFF Research Database (Denmark)

    Berisso, Feto Esimo; Schjønning, Per; Lamandé, Mathieu

    might induce different effects on soil physical properties. The objective of this study was to investigate the impact of vehicle traffic on soil physical properties and air permeability by systematic collection of samples in a transect running from the center to the outside of the wheel rut. A field...... catena running from center of the wheel rut to un wheeled part of the field ( 0, 20, 40, 50,60 and 400 cm horizontal distance). We measured water retention and air permeability (ka) at -30, -100 and -300 hPa matric potentials. At -100 hPa, we obtained consistently lower air filled under the wheel rut......The impact of wheel traffic on soil physical properties is usually quantified by randomly collecting soil cores at specific depths below the wheeled surface. However, modeling studies as well as few measurements indicated a non-uniform stress distribution in a catena across the wheel rut, which...

  8. Wheel inspection system environment.

    Science.gov (United States)

    2008-11-18

    International Electronic Machines Corporation (IEM) has developed and is now marketing a state-of-the-art Wheel Inspection System Environment (WISE). WISE provides wheel profile and dimensional measurements, i.e. rim thickness, flange height, flange ...

  9. Self-reported difficulty and preferences of wheeled mobility device users for simulated low-floor bus boarding, interior circulation and disembarking.

    Science.gov (United States)

    D'Souza, Clive; Paquet, Victor L; Lenker, James A; Steinfeld, Edward

    2017-11-13

    Low ridership of public transit buses among wheeled mobility device users suggests the need to identify vehicle design conditions that are either particularly accommodating or challenging. The objective of this study was to determine the effects of low-floor bus interior seating configuration and passenger load on wheeled mobility device user-reported difficulty, overall acceptability and design preference. Forty-eight wheeled mobility users evaluated three interior design layouts at two levels of passenger load (high vs. low) after simulating boarding and disembarking tasks on a static full-scale low-floor bus mockup. User self-reports of task difficulty, acceptability and design preference were analyzed across the different test conditions. Ramp ascent was the most difficult task for manual wheelchair users relative to other tasks. The most difficult tasks for users of power wheelchairs and scooters were related to interior circulation, including moving to the securement area, entry and positioning in the securement area and exiting the securement area. Boarding and disembarking at the rear doorway was significantly more acceptable and preferred compared to the layouts with front doorways. Understanding transit usability barriers, perceptions and preferences among wheeled mobility users is an important consideration for clinicians who recommend mobility-related device interventions to those who use public transportation. Implications for Rehabilitation In order to maximize community participation opportunities for wheeled mobility users, clinicians should consider potential public transit barriers during the processes of wheelchair device selection and skills training. Usability barriers experienced by wheeled mobility device users on transit vehicles differ by mobility device type and vehicle configurations. Full-scale environment simulations are an effective means of identifying usability barriers and design needs in people with mobility impairments and may

  10. The influence of friction coefficient and wheel/rail profiles on energy dissipation in the wheel/rail contact

    NARCIS (Netherlands)

    Idarraga Alarcon, G.A.; Burgelman, N.D.M.; Meza Meza, J.; Toro, A.; Li, Z.

    2015-01-01

    This work investigates the energy dissipation in a wheel/rail system through friction work modeling. In order to identify the effect of the friction coefficient on the energy dissipation in the wheel/rail contact, several simulations were performed using a 3D multibody model of a railway vehicle

  11. High frequency vibration characteristics of electric wheel system under in-wheel motor torque ripple

    Science.gov (United States)

    Mao, Yu; Zuo, Shuguang; Wu, Xudong; Duan, Xianglei

    2017-07-01

    With the introduction of in-wheel motor, the electric wheel system encounters new vibration problems brought by motor torque ripple excitation. In order to analyze new vibration characteristics of electric wheel system, torque ripple of in-wheel motor based on motor module and vector control system is primarily analyzed, and frequency/order features of the torque ripple are discussed. Then quarter vehicle-electric wheel system (QV-EWS) dynamics model based on the rigid ring tire assumption is established and the main parameters of the model are identified according to tire free modal test. Modal characteristics of the model are further analyzed. The analysis indicates that torque excitation of in-wheel motor is prone to arouse horizontal vibration, in which in-phase rotational, anti-phase rotational and horizontal translational modes of electric wheel system mainly participate. Based on the model, vibration responses of the QV-EWS under torque ripple are simulated. The results show that unlike vertical low frequency (lower than 20 Hz) vibration excited by road roughness, broadband torque ripple will arouse horizontal high frequency (50-100 Hz) vibration of electric wheel system due to participation of the three aforementioned modes. To verify the theoretical analysis, the bench experiment of electric wheel system is conducted and vibration responses are acquired. The experiment demonstrates the high frequency vibration phenomenon of electric wheel system and the measured order features as well as main resonant frequencies agree with simulation results. Through theoretical modeling, analysis and experiments this paper reveals and explains the high frequency vibration characteristics of electric wheel system, providing references for the dynamic analysis, optimal design of QV-EWS.

  12. Mechanical design of a free-wheel clutch for the thermal engine of a parallel hybrid vehicle with thermal and electrical power-train; Conception mecanique d'un accouplement a roue libre pour le moteur thermique d'un vehicule hybride parallele thermique et electrique

    Energy Technology Data Exchange (ETDEWEB)

    Santin, J.J.

    2001-07-01

    This thesis deals with the design of a free-wheel clutch. This unit is intended to replace the automated dry single-plate clutch of a parallel hybrid car with thermal and electric power-train. Furthermore, the car is a single shaft zero emission vehicle fitted with a controlled gearbox. Chapter one focuses on the type of hybrid vehicle studied. It shows the need to isolate the engine from the rest of the drive train, depending on the driving conditions. Chapter two presents and compares the two alternatives: automated clutch and free-wheel. In order to develop the free-wheel option, the torsional vibrations in the automotive drive line had to be closely studied. It required the design of a specific modular tool, as presented in chapter three, with the help of MATLAB SIMULINK. Lastly, chapter four shows how this tool was used during the design stage and specifies the way to build it. The free-wheel is then to be fitted to a prototype hybrid vehicle, constructed by both the LAMIH and PSA. (author)

  13. Three-wheeled scooter taxi: A safety analysis

    Indian Academy of Sciences (India)

    Three-wheel scooter taxis (TSR) form an essential part of public transport for the urban ... These low cost vehicles will remain a major mode of travel in the South Asian region ... commercial codes can be avoided for computational efficiency.

  14. Well-to-wheel greenhouse gas emissions and energy use analysis of hypothetical fleet of electrified vehicles in Canada and the U.S

    Science.gov (United States)

    Maduro, Miguelangel

    The shift to strong hybrid and electrified vehicle architectures engenders controversy and brings about many unanswered questions. It is unclear whether developed markets will have the infrastructure in place to support and successfully implement them. To date, limited effort has been made to comprehend if the energy and transportation solutions that work well for one city or geographic region may extend broadly. A region's capacity to supply a fleet of EVs, or plug-in hybrid vehicles with the required charging infrastructure, does not necessarily make such vehicle architectures an optimal solution. In this study, a mix of technologies ranging from HEV to PHEV and EREV through to Battery Electric Vehicles were analyzed and set in three Canadian Provinces and 3 U.S. Regions for the year 2020. Government agency developed environmental software tools were used to estimate greenhouse gas emissions and energy use. Projected vehicle technology shares were employed to estimate regional environmental implications. Alternative vehicle technologies and fuels are recommended for each region based on local power generation schemes.

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

    Directory of Open Access Journals (Sweden)

    Gasbaoui Brahim

    2011-01-01

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

  16. Experimental studies of breaking of elastic tired wheel under variable normal load

    Science.gov (United States)

    Fedotov, A. I.; Zedgenizov, V. G.; Ovchinnikova, N. I.

    2017-10-01

    The paper analyzes the braking of a vehicle wheel subjected to disturbances of normal load variations. Experimental tests and methods for developing test modes as sinusoidal force disturbances of the normal wheel load were used. Measuring methods for digital and analogue signals were used as well. Stabilization of vehicle wheel braking subjected to disturbances of normal load variations is a topical issue. The paper suggests a method for analyzing wheel braking processes under disturbances of normal load variations. A method to control wheel baking processes subjected to disturbances of normal load variations was developed.

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

    Directory of Open Access Journals (Sweden)

    Wu Zhicheng

    2017-01-01

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

  18. The physics of wheel-rail stability

    Science.gov (United States)

    Tan, B. T. G.

    2018-05-01

    This article discusses, at a simple level, the dynamics of the wheel-rail interface, which is fundamental to the stability of rail vehicles. The physics underlying this topic deserves to be better known by physicists and physics students, as it underpins such an important part of our technological infrastructure.

  19. The Physics of Wheel-Rail Stability

    Science.gov (United States)

    Tan, B. T. G.

    2018-01-01

    This article discusses, at a simple level, the dynamics of the wheel-rail interface, which is fundamental to the stability of rail vehicles. The physics underlying this topic deserves to be better known by physicists and physics students, as it underpins such an important part of our technological infrastructure

  20. 76 FR 73771 - Denial of Motor Vehicle Defect Petition, DP10-002

    Science.gov (United States)

    2011-11-29

    ...). Consequently, the petition is denied. 2.0 Dayton Wire Wheel History Founded in 1916, today Dayton Wire Wheel... in Dayton, Ohio. \\3\\ Dayton continues to supply original equipment wheels to some vehicle mfrs...

  1. 基于CCD的两轮自平衡智能车系统设计%Design of two-wheeled self-balanced smart vehicle system based on CCD

    Institute of Scientific and Technical Information of China (English)

    王俊; 许林; 岳东; 李德亮; 王悦

    2013-01-01

    介绍了一种基于线阵CCD图像传感器的两轮自平衡循迹智能车系统设计与开发.系统基于第八届飞思卡尔智能车大赛准则,通过陀螺仪与加速度计测量智能车姿态进行反馈调节实现动态自平衡和速度调节,并根据CCD获取的赛道信息控制智能车转向实现自动循迹.系统在控制算法上采用了增量式数字PID控制,使系统更加稳定,改善了系统鲁棒性,最终实现了智能车动态自平衡和自动循迹功能.%Design and development of two-wheeled self-balanced tracing smart vehicle based on linear charge coupled device is introduced.The system is based on The 8th Freescale Cup Intelligent Car Racing' s requests,via feedback regulation to realize dynamic self-balance and speed adjustment by measuring posture of the smart vehicle with gyro and accelerometer,and control the direction of smart vehicle in terms of track information collected by CCD camera to accomplish automatic tracking.The control strategy adopts the digital PID controller,and improves the stability,sensitivity,and robustness of the system.The function of dynamic self-balance and automatic tracking are achieved at last.

  2. Simulation and Measurement of Wheel on Rail Fatigue and Wear

    OpenAIRE

    Dirks, Babette

    2015-01-01

    The life of railway wheels and rails has been decreasing in recent years. This is mainly caused by more traffic and running at higher vehicle speed. A higher speed usually generates higher forces, unless compensated by improved track and vehicle designs, in the wheel-rail contact, resulting in more wear and rolling contact fatigue (RCF) damage to the wheels and rails. As recently as 15 years ago, RCF was not recognised as a serious problem. Nowadays it is a serious problem in many countries a...

  3. Redox fronts

    International Nuclear Information System (INIS)

    Chapman, N.; McKinley, I.; Shea, M.; Smellie, J.

    1993-01-01

    This article describes the investigations of redox fronts performed at the Osamu Utsumi mine. Results obtained by modelling groups on the rate of movement of the redox fronts and on the chemical reactions involved are discussed. Some of the most important rockwater interactions which occur at redox fronts can be modelled reasonably well but the complex redox chemistry of elements like sulphur is poorly simulated. The observed enrichment of many trace elements close to the redox fronts could be of significance for high-level waste repositories, but cannot be quantified by existing models. (author) 6 figs., 1 tab

  4. Hybrid-Vehicle Transmission System

    Science.gov (United States)

    Lupo, G.; Dotti, G.

    1985-01-01

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

  5. Design of a two-wheel self-balanced vehicle for race%一种基于竞赛的两轮自平衡小车的设计

    Institute of Scientific and Technical Information of China (English)

    周牡丹; 陈庆利; 康若鹏; 陈泽坤

    2014-01-01

    介绍一种两轮自平衡智能小车控制系统的实现方案。该系统以MC9S12XS128单片机作为主控芯片,采用一组激光传感器进行路径检测,使用ENC-03MA陀螺仪与MMA7361加速度计进行小车直立自平衡检测,利用BTS7960芯片进行电机驱动,使用增量式编码器进行速度检测,借助滑动电阻器和液晶屏对参数进行调整与观测。在软件方面,结合PWM技术和PID控制技术对小车的两个直流电机的转速进行控制,可以实现两轮小车的动态自平衡快速寻迹运行。实践表明该设计达到了理想效果。%An implementation scheme of control system for two-wheel self-balanced intelligent vehicle is introduced in this paper. In the system,MC9S12XS128 is used as a master microcontroller,some laser sensors are used to detect the path,ENC-03MA gyroscope and MMA7361 accelerometer are used for upright self-balanced detection of the vehicle,the chip BTS7960 is employed to drive the motor,the incremental encoder are used for the speed detection,and sliding resistors and LCD screen are utilized to adjust and observe the parameters. The speed of the two DC motors in the vehicle is controlled with PWM technology and PID control technology,so as to achieve the dynamic self-balance and fast tracking of the vehicle.

  6. Grinding Wheel System

    Science.gov (United States)

    Malkin, Stephen; Gao, Robert; Guo, Changsheng; Varghese, Biju; Pathare, Sumukh

    2003-08-05

    A grinding wheel system includes a grinding wheel with at least one embedded sensor. The system also includes an adapter disk containing electronics that process signals produced by each embedded sensor and that transmits sensor information to a data processing platform for further processing of the transmitted information.

  7. First Wheel of the Hadronic EndCap Calorimeter Completed

    CERN Multimedia

    Oram, C.J.

    2002-01-01

    With the LAr calorimeters well advanced in module production, the attention is turning to Batiment 180 where the calorimeter modules are formed into complete detectors and inserted into their respective cryostats. For the Hadronic End Cap (HEC) Group the task in B180 is to assemble the wheels, rotate them into their final orientation, and put them onto the cradle in front of the End Cap Cryostat. These tasks have been completed for the first HEC wheel in the B180 End Cap Clean Room. Given that this wheel weighs 70 tons the group is very relieved to have established that these gymnastics with the wheel proceed in a routine fashion. To assemble a wheel we take modules that have already been cold tested, do the final electrical testing and locate them onto the HEC wheel assembly table. Four wheels are required in total, each consisting of 32 modules. Wheel assembly is done in the horizontal position, creating a doughnut-like object sitting on the HEC table. The first picture shows the last module being added ...

  8. A Self-Propelled Wheel for Wheeled Vehicles.

    Science.gov (United States)

    1996-09-05

    embodiments of both types, in 16 general the axial permanent magnet motors feature a stator disk, 17 or drum, with a central opening and electrical...6 In general, in radial permanent magnet motors , the stator is 7 annularly-shaped and is concentrically disposed around a 8 generally cylindrically...is to provide a motor 6 assembly which is more efficient than the presently available 7 axial permanent magnet motors and radial permanent magnet motors 8

  9. Baseline tests of the C. H. Waterman Renault 5 electric passenger vehicle

    Science.gov (United States)

    Sargent, N. B.; Mcbrien, E. F.; Slavick, R. J.

    1977-01-01

    The Waterman vehicle, a four passenger Renault 5 GTL, performance test results are presented and characterized the state-of-the-art of electric vehicles. It was powered by sixteen 6-volt traction batteries through a two-step contactor controller actuated by a foot throttle to change the voltage applied to the 6.7 -kilowatt motor. The motor output shaft was connected to a front-wheel-drive transaxle that contains a four-speed manual transmission and clutch. The braking system was a conventional hydraulic braking system.

  10. Relação cinemática em um trator 4x2 com tração dianteira auxiliar equipado com pneus radiais na eficiência de tração Kinematic relation on radial tires in a front wheel assist tractor on traction efficience

    Directory of Open Access Journals (Sweden)

    Mauro Fernando Ferreira

    2000-12-01

    Full Text Available Diferentes combinações de pressões internas dos pneus do trator pode afetar a interferência entre eixos motrizes dos tratores agrícolas, principalmente com pneus do tipo radial. Um trator 4x2 com tração dianteira auxiliar foi analisado quanto a seu desempenho em tração. Pneus de carcaça radial com diferentes pressões internas foram utilizados, com o objetivo de variar as relações cinemá ticas entre os eixos. Mediram-se o patinamento das rodas dianteiras e traseiras, a resistência ao rolamento e a força de tração, em duas condições de solo (firme e solto. Os resultados obtidos permitiram verificar que a eficiência de tração não foi significativamente influenciada pela variação das relações cinemáticas de 0,962 a 1,102. As máximas eficiências de tração ocorreram com relaçõ es cinemáticas variáveis dentro da faixa estudada e de acordo com as cargas impostas à barra de tração.Different combinations of tractor tire inflating pressure may affect interference between tractor axles, mainly with radial tires type. A front wheel assist tractor was studied in its traction performance. Radial tires with different inflation pressure were used, changing kinematic relations between axles. The measured parameters were: front and rear slip, rolling resistence and drawbar pull in two soil conditions (firm and loose. The results indicate that traction efficience was not significantly influenced by kinematic relations variation between 0.962 to 1.102. The maximum traction efficiency ocurred within the range studied and according to drawbar pull.

  11. Haulage trucks model with four electric separate wheel drives

    Directory of Open Access Journals (Sweden)

    R. Setlak

    2005-02-01

    Full Text Available This article contains a course of work of the construction of a vehicle model that has four electrical motors built into each wheel. During the project two models of a vehicle were constructed. A microprocessor based control system has also been designed and built. A vehicle is controlled by a steering unit which contains a steering wheel with a force feedback system, push buttons, an accelerator and a brake. The connection between a steering unit and a model is realized by interface RS-485. The driving motors are dc motors with permanent magnets. Power supply consists of an acid battery located in the vehicle. The vehicle control system is divided into two parts. The first part is built into the vehicle and operates as a vehicle main control system and the second is built into a steering unit and operates as the main control steering system.

  12. The Reaction Wheel Pendulum

    CERN Document Server

    Block, Daniel J; Spong, Mark W

    2007-01-01

    This monograph describes the Reaction Wheel Pendulum, the newest inverted-pendulum-like device for control education and research. We discuss the history and background of the reaction wheel pendulum and other similar experimental devices. We develop mathematical models of the reaction wheel pendulum in depth, including linear and nonlinear models, and models of the sensors and actuators that are used for feedback control. We treat various aspects of the control problem, from linear control of themotor, to stabilization of the pendulum about an equilibrium configuration using linear control, t

  13. A Nontoxic Barlow's Wheel

    Science.gov (United States)

    Daffron, John A.; Greenslade, Thomas B.

    2015-01-01

    Barlow's wheel has been a favorite demonstration since its invention by Peter Barlow (1776-1862) in 1822.1 In the form shown in Fig. 1, it represents the first electric motor. The interaction between the electric current passing from the axle of the wheel to the rim and the magnetic field produced by the U-magnet produces a torque that turns the wheel. The original device used mercury to provide electrical contact to the rim, and the dangers involved with the use of this heavy metal have caused the apparatus to disappear from the lecture hall.

  14. A new formulation of the understeer coefficient to relate yaw torque and vehicle handling

    Science.gov (United States)

    Bucchi, F.; Frendo, F.

    2016-06-01

    The handling behaviour of vehicles is an important property for its relation to performance and safety. In 1970s, Pacejka did the groundwork for an objective analysis introducing the handling diagram and the understeer coefficient. In more recent years, the understeer concept is still mentioned but the handling is actively managed by direct yaw control (DYC). In this paper an accurate analysis of the vehicle handling is carried out, considering also the effect of drive forces. This analysis brings to a new formulation of the understeer coefficient, which is almost equivalent to the classical one, but it can be obtained by quasi-steady-state manoeuvres. In addition, it relates the vehicle yaw torque to the understeer coefficient, filling up the gap between the classical handling approach and DYC. A multibody model of a Formula SAE car is then used to perform quasi-steady-state simulations in order to verify the effectiveness of the new formulation. Some vehicle set-ups and wheel drive arrangements are simulated and the results are discussed. In particular, the handling behaviours of the rear wheel drive (RWD) and the front wheel drive (FWD) architectures are compared, finding an apparently surprising result: for the analysed vehicle the FWD is less understeering than for RWD. The relation between the yaw torque and the understeer coefficient allows to understand this behaviour and opens-up the possibility for different yaw control strategies.

  15. 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

  16. New Integrated Testing System for the Validation of Vehicle-Snow Interaction Models

    Science.gov (United States)

    2010-08-06

    are individual wheel speeds, accelerator pedal position, vehicle speed, yaw rate, lateral acceleration, steering wheel angle and brake ...forces and moments at each wheel center, vehicle body slip angle , speed, acceleration, yaw rate, roll, and pitch. The profilometer has a 3-D scanning...Stability Program. The test vehicle provides measurements that include three forces and moments at each wheel center, vehicle body slip angle , speed

  17. Wheelchair users' perceptions of and experiences with power assist wheels.

    Science.gov (United States)

    Giacobbi, Peter R; Levy, Charles E; Dietrich, Frederick D; Winkler, Sandra Hubbard; Tillman, Mark D; Chow, John W

    2010-03-01

    To assess wheelchair users' perceptions of and experiences with power assist wheels using qualitative interview methods. Qualitative evaluations were conducted in a laboratory setting with a focus on users' experiences using power assist wheel in their naturalistic environments. Participants consisted of seven women and 13 men (M(age) = 42.75, SD = 14.68) that included one African American, one Hispanic, 17 whites, and one individual from Zambia. Qualitative interviews were conducted before, during, and after use of a power assist wheel. Main outcome measures included the wheelchair users' evaluations and experiences related to the use of power assist wheels. The primary evaluations included wheeling on challenging terrains, performance of novel activities, social/family aspects, fatigue, and pain. These descriptions indicated that most participants perceived positive experiences with the power assist wheels, including access to new and different activities. Secondary evaluations indicated that the unit was cumbersome and prohibitive for some participants because of difficulties with transport in and out of a vehicle and battery life. Most participants felt that power assist wheels provided more independence and social opportunities. The power assist wheel seems to offer physical and social benefits for most wheelers. Clinicians should consider users' home environment and overall life circumstances before prescribing.

  18. Accidents in The Netherlands involving heavy motor vehicles : an analysis concerning underrun protection of rear ends, compared to the sides and the front ends. On behalf of RDW Vehicle Technology & Information Centre.

    NARCIS (Netherlands)

    Kampen, L.T.B. van

    1998-01-01

    In this report accident data concerning heavy vehicles (all motor vehicles with a total weight of more than 3500 kg) are studied. Special attention is given to the question whether accidents involving heavy motor vehicles gave specific reason for concern regarding other road users with respect to

  19. Biologically Inspired Modular Neural Control for a Leg-Wheel Hybrid Robot

    DEFF Research Database (Denmark)

    Manoonpong, Poramate; Wörgötter, Florentin; Laksanacharoen, Pudit

    2014-01-01

    In this article we present modular neural control for a leg-wheel hybrid robot consisting of three legs with omnidirectional wheels. This neural control has four main modules having their functional origin in biological neural systems. A minimal recurrent control (MRC) module is for sensory signal...... processing and state memorization. Its outputs drive two front wheels while the rear wheel is controlled through a velocity regulating network (VRN) module. In parallel, a neural oscillator network module serves as a central pattern generator (CPG) controls leg movements for sidestepping. Stepping directions...... or they can serve as useful modules for other module-based neural control applications....

  20. Electric wheel hub motor; Elektrischer Radnabenmotor

    Energy Technology Data Exchange (ETDEWEB)

    Groeninger, Michael; Kock, Alexander [IFAM Bremen (Germany); Horch, Felix [IFAM Bremen (Germany). Komponentenentwicklung; Pleteit, Hermann [IFAM Bremen (Germany). Abt. Giessereitechnologie und Komponentenentwicklung

    2012-02-15

    The bundled competences of the participating Fraunhofer Institutes have made it possible to develop a wheel hub motor that has essentially overcome currently existing technical hurdles, enabling its use in a vehicle. In addition to direct technical challenges such as sealing against external influences, high bearing stiffness requirements, necessary high torque densities and simple integration in the chassis, the safety aspects required by modern vehicles were also taken into account. A drive system that guarantees safe driving states, even in the case of malfunction, was developed through the combination of recuperative braking with a classic mechanical braking system and redundant motor design. (orig.)

  1. Wheeling in Canada

    International Nuclear Information System (INIS)

    Fytche, E.L.

    1991-01-01

    The quest for economic efficiency, or lowest cost, in the electricity supply industry is furthered by trading between high and low cost utilities, one aspect being transporting or wheeling power through the transmission system of a third party. Some of the pressures and constraints limiting wheeling are discussed. A simple formula is presented for determining whether trading and wheeling are worthwhile. It is demonstrated for assumed capital and operating cost levels, the viability of nine cases where bulk power or economy energy would need to be wheeled across provincial boundaries in order to reach potential buyers. Wheeling in Canada is different from the situation in the USA, due to large distances spanned by Canadian utilities and because most are provincial crown corporations, with different territorial interests and profit motivations than investor-owned utilities. Most trading in electricity has been between contiguous neighbours, for mutual advantage. New technology allows power transmission over distances of up to 1000 miles, and the economics of Canada's electrical supply could be improved, with means including access to low cost coal of Alberta, and remote hydro in British Columbia, Manitoba, Quebec and Labrador. Nuclear plants could be located anywhere but suffer from an unfriendly public attitude. A bridge across the Prairies appears uneconomic due to cost of transmission, and also due to low valuation given to Alberta coal. 7 refs., 2 figs., 3 tabs

  2. The hydraulic wheel

    International Nuclear Information System (INIS)

    Alvarez Cardona, A.

    1985-01-01

    The present article this dedicated to recover a technology that key in disuse for the appearance of other techniques. It is the hydraulic wheel with their multiple possibilities to use their energy mechanical rotational in direct form or to generate electricity directly in the fields in the place and to avoid the high cost of transport and transformation. The basic theory is described that consists in: the power of the currents of water and the hydraulic receivers. The power of the currents is determined knowing the flow and east knowing the section of the flow and its speed; they are given you formulate to know these and direct mensuration methods by means of floodgates, drains and jumps of water. The hydraulic receivers or properly this hydraulic wheels that are the machines in those that the water acts like main force and they are designed to transmit the biggest proportion possible of absolute work of the water, the hydraulic wheels of horizontal axis are the common and they are divided in: you rotate with water for under, you rotate with side water and wheels with water for above. It is analyzed each one of them, their components are described; the conditions that should complete to produce a certain power and formulate them to calculate it. There are 25 descriptive figures of the different hydraulic wheels

  3. Costs associated with wheeling

    International Nuclear Information System (INIS)

    Anon.

    1991-01-01

    Wheeling costs are incurred by all companies that experience a change in power flows over their transmission lines during a specific transaction, whether or not the lines of that company are part of the contract path. The costs of providing wheeling service differ from one system to another and from one kind of wheeling transaction to another. While most transactions may be completed using existing capacity, others may require an increase in line. Depending on the situation, some cost components may be high, low, negative, or not incurred at all. This article discusses two general categories of costs; transactional and capital. The former are all operation, maintenance and opportunity costs incurred in completing a specific transaction assuming the existence of adequate capacity. Capital costs are the costs of major new equipment purchases and lines necessary to provide any increased level of transmission services

  4. Stocks and flows of lead-based wheel weights in the United States

    Science.gov (United States)

    Bleiwas, Donald I.

    2006-01-01

    Lead is used in many widely known applications, such as automobile batteries and radiation shielding. Another lesser known, but long-term, use of lead is in automotive vehicle wheel weights. Lead weights have been used to balance wheels since the 1930s because of its high specific gravity, low relative cost, and its malleability. Out-of-balance tires tend to 'cup' and vibrate and as a result cause excessive wear on tires and vehicle suspension components and result in compromised handling, especially at high speeds. The mass, number, and style of weights needed to balance a wheel depend on the tire's size and weight and on the type and condition of the wheels (rims) on the vehicle. This study addresses an accounting of the stocks and flows of lead contained in lead wheel weights from their manufacture, through use, dissipation, and recycling, and environmental issues associated with the use of lead.

  5. Electric vehicles

    Science.gov (United States)

    1990-03-01

    Quiet, clean, and efficient, electric vehicles (EVs) may someday become a practical mode of transportation for the general public. Electric vehicles can provide many advantages for the nation's environment and energy supply because they run on electricity, which can be produced from many sources of energy such as coal, natural gas, uranium, and hydropower. These vehicles offer fuel versatility to the transportation sector, which depends almost solely on oil for its energy needs. Electric vehicles are any mode of transportation operated by a motor that receives electricity from a battery or fuel cell. EVs come in all shapes and sizes and may be used for different tasks. Some EVs are small and simple, such as golf carts and electric wheel chairs. Others are larger and more complex, such as automobile and vans. Some EVs, such as fork lifts, are used in industries. In this fact sheet, we will discuss mostly automobiles and vans. There are also variations on electric vehicles, such as hybrid vehicles and solar-powered vehicles. Hybrid vehicles use electricity as their primary source of energy, however, they also use a backup source of energy, such as gasoline, methanol or ethanol. Solar-powered vehicles are electric vehicles that use photovoltaic cells (cells that convert solar energy to electricity) rather than utility-supplied electricity to recharge the batteries. These concepts are discussed.

  6. Remote operated vehicle with carbon dioxide blasting (ROVCO{sub 2})

    Energy Technology Data Exchange (ETDEWEB)

    Resnick, A.M. [Oceaneering International, Inc., Upper Marlboro, MD (United States)

    1995-10-01

    The Remote Operated Vehicle with Carbon Dioxide Blasting (ROVCO{sub 2}), as shown in a front view is a six-wheeled remote land vehicle used to decontaminate concrete floors. The remote vehicle has a high pressure Cryogenesis blasting subsystem, Oceaneering Technologies (OTECH) developed a CO{sub 2} xY Orthogonal Translational End Effector (COYOTEE) subsystem, and a vacuum/filtration and containment subsystem. The cryogenesis subsystem performs the actual decontamination work and consists of the dry ice supply unit, the blasting nozzle, the remotely controlled electric and pneumatic valves, and the vacuum work-head. The COYOTEE subsystem positions the blasting work-head within a planar work space and the vacuum subsystem provides filtration and containment of the debris generated by the CO{sub 2} blasting. It employs a High Efficiency Particulate Air (HEPA) filtration unit to separate contaminants for disposal. All of the above systems are attached to the vehicle subsystem via the support structure.

  7. The prospects for retail wheeling

    International Nuclear Information System (INIS)

    O'Donnell, E.H.; Center, J.A.

    1992-01-01

    This paper as published is an outline of a presentation on retail wheeling of electric power. The topics discussed are development of increased wholesale transmission access, government regulatory policies on wholesale transmission, examples of past and present retail transmission access agreements, examples of Federal Energy Regulatory Commission jurisdiction over retail wheeling, and state policies on retail wheeling

  8. Development of combined brake system on front and rear brakes for scooter; Scooter yo zenkorin rendo brake system no kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    Okazaki, Y; Itabashi, T; Shinohara, S; Honda, Y [Honda R and D Co. Ltd., Tokyo (Japan)

    1997-10-01

    Scooters need appropriate front and rear wheel braking power distribution and each of front and rear brakes have been operated using right and left levers. This time, a low cost brakes with cable type combined brake system for small size scooter and a brakes with hydraulic type combined brake system for middle size scooter have been developed to obtain appropriate front and rear wheel braking power distribution. Both systems use convenient left lever to operate. 3 refs., 9 figs., 1 tab.

  9. Color Wheel Windows

    Science.gov (United States)

    Leonard, Stephanie

    2012-01-01

    In this article, the author describes a painting and drawing lesson which was inspired by the beautiful circular windows found in cathedrals and churches (also known as "rose windows"). This two-week lesson would reinforce both the concept of symmetry and students' understanding of the color wheel. (Contains 1 online resource.)

  10. Atomic Ferris wheel beams

    Science.gov (United States)

    Lembessis, Vasileios E.

    2017-07-01

    We study the generation of atom vortex beams in the case where a Bose-Einstein condensate, released from a trap and moving in free space, is diffracted from a properly tailored light mask with a spiral transverse profile. We show how such a diffraction scheme could lead to the production of an atomic Ferris wheel beam.

  11. Applied design methodology for lunar rover elastic wheel

    Science.gov (United States)

    Cardile, Diego; Viola, Nicole; Chiesa, Sergio; Rougier, Alessandro

    2012-12-01

    In recent years an increasing interest in the Moon surface operations has been experienced. In the future robotic and manned missions of Moon surface exploration will be fundamental in order to lay the groundwork for more ambitious space exploration programs. Surface mobility systems will be the key elements to ensure an efficient and safe Moon exploration. Future lunar rovers are likely to be heavier and able to travel longer distances than the previously developed Moon rover systems. The Lunar Roving Vehicle (LRV) is the only manned rover, which has so far been launched and used on the Moon surface. Its mobility system included flexible wheels that cannot be scaled to the heavier and longer range vehicles. Thus the previously developed wheels are likely not to be suitable for the new larger vehicles. Taking all these considerations into account, on the basis of the system requirements and assumptions, several wheel concepts have been discussed and evaluated through a trade-off analysis. Semi-empirical equations have been utilized to predict the wheel geometrical characteristics, as well as to estimate the motion resistances and the ability of the system to generate thrust. A numerical model has also been implemented, in order to define more into the details the whole wheel design, in terms of wheel geometry and physical properties. As a result of the trade-off analysis, the ellipse wheel concept has shown the best behavior in terms of stiffness, mass budget and dynamic performance. The results presented in the paper have been obtained in cooperation with Thales Alenia Space-Italy and Sicme motori, in the framework of a regional program called STEPS . STEPS-Sistemi e Tecnologie per l'EsPlorazione Spaziale is a research project co-financed by Piedmont Region and firms and universities of the Piedmont Aerospace District in the ambit of the P.O.R-F.E.S.R. 2007-2013 program.

  12. Fuzzy model for predicting the number of deformed wheels

    Directory of Open Access Journals (Sweden)

    Ž. Đorđević

    2015-10-01

    Full Text Available Deformation of the wheels damage cars and rails and affect on vehicle stability and safety. Repair and replacement cause high costs and lack of wagons. Planning of maintenance of wagons can not be done without estimates of the number of wheels that will be replaced due to wear and deformation in a given period of time. There are many influencing factors, the most important are: weather conditions, quality of materials, operating conditions, and distance between the two replacements. The fuzzy logic model uses the collected data as input variables to predict the output variable - number of deformed wheels for a certain type of vehicle in the defined period at a particular section of the railway.

  13. Modeling and analysis of linearized wheel-rail contact dynamics

    International Nuclear Information System (INIS)

    Soomro, Z.

    2014-01-01

    The dynamics of the railway vehicles are nonlinear and depend upon several factors including vehicle speed, normal load and adhesion level. The presence of contaminants on the railway track makes them unpredictable too. Therefore in order to develop an effective control strategy it is important to analyze the effect of each factor on dynamic response thoroughly. In this paper a linearized model of a railway wheel-set is developed and is later analyzed by varying the speed and adhesion level by keeping the normal load constant. A wheel-set is the wheel-axle assembly of a railroad car. Patch contact is the study of the deformation of solids that touch each other at one or more points. (author)

  14. Vehicle State Estimator based regenerative braking implementation on an electric vehicle to improve lateral vehicle stability

    NARCIS (Netherlands)

    Jansen, S.T.H.; van Boekel, J.J.P.; Iersel, van S.S.; Besselink, I.J.M.; Nijmeijer, H.

    2013-01-01

    The driving range of electric vehicles can be extended using regenerative braking. Regenerative braking uses the electric drive system, and therefore only the driven wheels, for decelerating the vehicle. Braking on one axle affects the stability of the vehicle, especially for road conditions with

  15. Vehicle state estimator based regenerative braking implementation on an electric vehicle to improve lateral vehicle stability

    NARCIS (Netherlands)

    Jansen, S.T.H.; Boekel, J.J.P. van; Iersel, S.S. van; Besselink, I.J.M.; Nijmeijer, H.

    2013-01-01

    The driving range of electric vehicles can be extended using regenerative braking. Regenerative braking uses the elctric drive system, and therefore only the driven wheels, for decelerating the vehicle. Braking on one axle affects the stability of the vehicle, especially for road conditions with

  16. 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.

  17. Errors of car wheels rotation rate measurement using roller follower on test benches

    Science.gov (United States)

    Potapov, A. S.; Svirbutovich, O. A.; Krivtsov, S. N.

    2018-03-01

    The article deals with rotation rate measurement errors, which depend on the motor vehicle rate, on the roller, test benches. Monitoring of the vehicle performance under operating conditions is performed on roller test benches. Roller test benches are not flawless. They have some drawbacks affecting the accuracy of vehicle performance monitoring. Increase in basic velocity of the vehicle requires increase in accuracy of wheel rotation rate monitoring. It determines the degree of accuracy of mode identification for a wheel of the tested vehicle. To ensure measurement accuracy for rotation velocity of rollers is not an issue. The problem arises when measuring rotation velocity of a car wheel. The higher the rotation velocity of the wheel is, the lower the accuracy of measurement is. At present, wheel rotation frequency monitoring on roller test benches is carried out by following-up systems. Their sensors are rollers following wheel rotation. The rollers of the system are not kinematically linked to supporting rollers of the test bench. The roller follower is forced against the wheels of the tested vehicle by means of a spring-lever mechanism. Experience of the test bench equipment operation has shown that measurement accuracy is satisfactory at small rates of vehicles diagnosed on roller test benches. With a rising diagnostics rate, rotation velocity measurement errors occur in both braking and pulling modes because a roller spins about a tire tread. The paper shows oscillograms of changes in wheel rotation velocity and rotation velocity measurement system’s signals when testing a vehicle on roller test benches at specified rates.

  18. Durability Characteristics Analysis of Plastic Worm Wheel with Glass Fiber Reinforced Polyamide

    OpenAIRE

    Kim, Gun-Hee; Lee, Jeong-Won; Seo, Tae-Il

    2013-01-01

    Plastic worm wheel is widely used in the vehicle manufacturing field because it is favorable for weight lightening, vibration and noise reduction, as well as corrosion resistance. However, it is very difficult for general plastics to secure the mechanical properties that are required for vehicle gears. If the plastic resin is reinforced by glass fiber in the fabrication process of plastic worm wheel, it is possible to achieve the mechanical properties of metallic material levels. In this stud...

  19. Analysis of wheel speed vibrations for road friction classification

    NARCIS (Netherlands)

    Schmeitz, A.J.C.; Alirezaei, M.

    2016-01-01

    With higher level of vehicle automation, it becomes increasingly important to know the maximum possible tyre forces during normal driving. An interesting method in this respect is estimating the tyre-road friction from the resonance in the wheel speed signal, excited by road roughness. A simulation

  20. Improving yaw dynamics by feedforward rear wheel steering

    NARCIS (Netherlands)

    Besselink, I.J.M.; Veldhuizen, T.J.; Nijmeijer, H.

    2008-01-01

    Active rear wheel steering can be applied to improve vehicle yaw dynamics. In this paper two possible control algorithms are discussed. The first method is a yaw rate feedback controller with a reference model, which has been reported in a similar form previously in literature. The second controller

  1. 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…

  2. Design, Modeling And Control Of Steering And Braking For An Urban Electric Vehicle

    OpenAIRE

    Maciua, Dragos

    1996-01-01

    This report describes research which involved the design modification, modeling and control of automatic steering and braking systems for an urban electric vehicle. The vehicle is equipped with four-wheel independent drive, four-wheel independent braking and four-wheel steering. Control algorithms were developed for steering and braking. Simulation results show the feasibility of the algorithms.

  3. Diabetes education on wheels.

    Science.gov (United States)

    Hardway, D; Weatherly, K S; Bonheur, B

    1993-01-01

    Diabetes education programs remain underdeveloped in the pediatric setting, resulting in increased consumer complaints and financial liability for hospitals. The Diabetes Education on Wheels program was designed to provide comprehensive, outcome-oriented education for patients with juvenile diabetes. The primary goal of the program was to enhance patients' and family members' ability to achieve self-care in the home setting. The program facilitated sequential learning, improved consumer satisfaction, and promoted financial viability for the hospital.

  4. An Intelligent Regenerative Braking Strategy for Electric Vehicles

    Directory of Open Access Journals (Sweden)

    Zhibin Song

    2011-09-01

    Full Text Available Regenerative braking is an effective approach for electric vehicles (EVs to extend their driving range. A fuzzy-logic-based regenerative braking strategy (RBS integrated with series regenerative braking is developed in this paper to advance the level of energy-savings. From the viewpoint of securing car stability in braking operations, the braking force distribution between the front and rear wheels so as to accord with the ideal distribution curve are considered to prevent vehicles from experiencing wheel lock and slip phenomena during braking. Then, a fuzzy RBS using the driver’s braking force command, vehicle speed, battery SOC, battery temperature are designed to determine the distribution between friction braking force and regenerative braking force to improve the energy recuperation efficiency. The experimental results on an “LF620” prototype EV validated the feasibility and effectiveness of regenerative braking and showed that the proposed fuzzy RBS was endowed with good control performance. The maximum driving range of LF620 EV was improved by 25.7% compared with non-RBS conditions.

  5. 49 CFR 570.10 - Wheel assemblies.

    Science.gov (United States)

    2010-10-01

    ... bead through one full wheel revolution and note runout in excess of one-eighth of an inch. (c) Mounting... 49 Transportation 6 2010-10-01 2010-10-01 false Wheel assemblies. 570.10 Section 570.10... Pounds or Less § 570.10 Wheel assemblies. (a) Wheel integrity. A tire rim, wheel disc, or spider shall...

  6. Analysis of motion of the three wheeled mobile platform

    Directory of Open Access Journals (Sweden)

    Jaskot Anna

    2018-01-01

    Full Text Available The work is dedicated to the designing motion of the three wheeled mobile platform under the unsteady conditions. In this paper the results of the analysis based on the dynamics model of the three wheeled mobile robot, with two rear wheels and one front wheel has been included The prototype has been developed by the author's construction assumptions that is useful to realize the motion of the platform in a various configurations of wheel drives, including control of the active forces and the direction of their settings while driving. Friction forces, in longitudinal and in the transverse directions, are considered in the proposed model. Relation between friction and active forces are also included. The motion parameters of the mobile platform has been determined by adopting classical approach of mechanics. The formulated initial problem of platform motion has been solved numerically using the Runge-Kutta method of the fourth order. Results of motion analysis with motion parameters values are determined and sample results are presented.

  7. 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.

  8. Evaluation of four steering wheels to determine driver hand placement in a static environment.

    Science.gov (United States)

    Mossey, Mary E; Xi, Yubin; McConomy, Shayne K; Brooks, Johnell O; Rosopa, Patrick J; Venhovens, Paul J

    2014-07-01

    While much research exists on occupant packaging both proprietary and in the literature, more detailed research regarding user preferences for subjective ratings of steering wheel designs is sparse in published literature. This study aimed to explore the driver interactions with production steering wheels in four vehicles by using anthropometric data, driver hand placement, and driver grip design preferences for Generation-Y and Baby Boomers. In this study, participants selected their preferred grip diameter, responded to a series of questions about the steering wheel grip as they sat in four vehicles, and rank ordered their preferred grip design. Thirty-two male participants (16 Baby Boomers between ages 47 and 65 and 16 Generation-Y between ages 18 and 29) participated in the study. Drivers demonstrated different gripping behavior between vehicles and between groups. Recommendations for future work in steering wheel grip design and naturalistic driver hand positioning are discussed. Copyright © 2014. Published by Elsevier Ltd.

  9. Vibration Analysis of 5-DOF Vehicle Model under Stochastic Road Surface Excitation

    Directory of Open Access Journals (Sweden)

    Zhang Yanlong

    2016-01-01

    Full Text Available Considering human body vertical motion, vehicle body vertical motion, pitch movement and vertical jump of front and rear wheels, a five-degree-of-freedom vehicle model is established to study basic driving characteristics of the vehicle. Using Fourier transform method, acceleration power spectral density of the seat and the mean square value curves of seat vertical weighted acceleration are obtained by numerical simulation. Combined with comfort provision standards, the influence of vehicle model parameters and speed on seat acceleration power spectral density and vertical root-mean-square value of seat weighted acceleration are analyzed. Results show that the stiffness and damping of the seat have no significant effect on seat acceleration power spectral density, and seat acceleration PSD increases with increasing front or rear suspension stiffness, but it decreases with increasing front or rear suspension damping. It should also be concluded that the model stiffness and the mean square value of seat vertical weighted acceleration present positive correlation in general, but seat vertical weighted acceleration decrease first and then increase when model damping increase. Such analysis results can provide reference for the parameter optimization design of the automobile.

  10. Wheel speed management control system for spacecraft

    Science.gov (United States)

    Goodzeit, Neil E. (Inventor); Linder, David M. (Inventor)

    1991-01-01

    A spacecraft attitude control system uses at least four reaction wheels. In order to minimize reaction wheel speed and therefore power, a wheel speed management system is provided. The management system monitors the wheel speeds and generates a wheel speed error vector. The error vector is integrated, and the error vector and its integral are combined to form a correction vector. The correction vector is summed with the attitude control torque command signals for driving the reaction wheels.

  11. Modelling of a mecanum wheel taking into account the geometry of road rollers

    Science.gov (United States)

    Hryniewicz, P.; Gwiazda, A.; Banaś, W.; Sękala, A.; Foit, K.

    2017-08-01

    During the process planning in a company one of the basic factors associated with the production costs is the operation time for particular technological jobs. The operation time consists of time units associated with the machining tasks of a workpiece as well as the time associated with loading and unloading and the transport operations of this workpiece between machining stands. Full automation of manufacturing in industry companies tends to a maximal reduction in machine downtimes, thereby the fixed costs simultaneously decreasing. The new construction of wheeled vehicles, using Mecanum wheels, reduces the transport time of materials and workpieces between machining stands. These vehicles have the ability to simultaneously move in two axes and thus more rapid positioning of the vehicle relative to the machining stand. The Mecanum wheel construction implies placing, around the wheel free rollers that are mounted at an angle 450, which allow the movement of the vehicle not only in its axis but also perpendicular thereto. The improper selection of the rollers can cause unwanted vertical movement of the vehicle, which may cause difficulty in positioning of the vehicle in relation to the machining stand and the need for stabilisation. Hence the proper design of the free rollers is essential in designing the whole Mecanum wheel construction. It allows avoiding the disadvantageous and unwanted vertical vibrations of a whole vehicle with these wheels. In the article the process of modelling the free rollers, in order to obtain the desired shape of unchanging, horizontal trajectory of the vehicle is presented. This shape depends on the desired diameter of the whole Mecanum wheel, together with the road rollers, and the width of the drive wheel. Another factor related with the curvature of the trajectory shape is the length of the road roller and its diameter decreases depending on the position with respect to its centre. The additional factor, limiting construction of

  12. Sensor set-up for wireless measurement of automotive rim and wheel parameters in laboratory conditions

    Science.gov (United States)

    Borecki, M.; Prus, P.; Korwin-Pawlowski, M. L.; Rychlik, A.; Kozubel, W.

    2017-08-01

    Modern rims and wheels are tested at the design and production stages. Tests can be performed in laboratory conditions and on the ride. In the laboratory, complex and costly equipment is used, as for example wheel balancers and impact testers. Modern wheel balancers are equipped with electronic and electro-mechanical units that enable touch-less measurement of dimensions, including precision measurement of radial and lateral wheel run-out, automatic positioning and application of the counterweights, and vehicle wheel set monitoring - tread wear, drift angles and run-out unbalance. Those tests are performed by on-wheel axis measurements with laser distance meters. The impact tester enables dropping of weights from a defined height onto a wheel. Test criteria are the loss of pressure of the tire and generation of cracks in the wheel without direct impact of the falling weights. In the present paper, a set up composed of three accelerometers, a temperature sensor and a pressure sensor is examined as the base of a wheel tester. The sensor set-up configuration, on-line diagnostic and signal transmission are discussed.

  13. Rover's Wheel Churns Up Bright Martian Soil

    Science.gov (United States)

    2009-01-01

    NASA's Mars Exploration Rover Spirit acquired this mosaic on the mission's 1,202nd Martian day, or sol (May 21, 2007), while investigating the area east of the elevated plateau known as 'Home Plate' in the 'Columbia Hills.' The mosaic shows an area of disturbed soil, nicknamed 'Gertrude Weise' by scientists, made by Spirit's stuck right front wheel. The trench exposed a patch of nearly pure silica, with the composition of opal. It could have come from either a hot-spring environment or an environment called a fumarole, in which acidic, volcanic steam rises through cracks. Either way, its formation involved water, and on Earth, both of these types of settings teem with microbial life. Spirit acquired this mosaic with the panoramic camera's 753-nanometer, 535-nanometer, and 432-nanometer filters. The view presented here is an approximately true-color rendering.

  14. An elevator wheel

    Energy Technology Data Exchange (ETDEWEB)

    Zhornik, V.I.; Cherkov, Ye.M.; Simonov, A.A.

    1982-01-01

    This invention deals with mineral enrichment and is primarily for unloading submerged products of enrichment during separation in heavy mediums. An elevator wheel is proposed for unloading the submerged product from the bath of a heavy to medium separator which includes ladle disks with internal walls and overlapping sheets hinged to the ends. In order to increase the degree of dehydration of the unloaded product, the internal wall of each ladle is made of sheets installed in stages with clearances relative to each other. The advantages of the proposed device include an improvement in the degree of dehydration of the submerged product in the ladles and a reduction in the carry away of the heavy medium with the enrichment products.

  15. 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.

  16. ROMO - The Robotic Electric Vehicle

    OpenAIRE

    Brembeck, Jonathan; Ho, Lok Man; Schaub, Alexander; Satzger, Clemens; Tobolar, Jakub; Bals, Johann; Hirzinger, Gerhard

    2011-01-01

    This paper outlines the development of the ROboMObil, an innovative electro-mobility concept based on intelligent central control of four Wheel Robots, which integrate the drivetrain, brakes, steering and dampers. The motivation behind the Wheel Robot concept, the implementation details together with the suspension design are described. The electric power system, consisting of a Li-Ion battery cluster to provide high-voltage power for propulsion and a low-voltage supply for vehicle control, i...

  17. Theoretical design study of the MSFC wind-wheel turbine

    Science.gov (United States)

    Frost, W.; Kessel, P. A.

    1982-01-01

    A wind wheel turbine (WWT) is studied. Evaluation of the probable performance, possible practical applications, and economic viability as compared to other conventional wind energy systems is discussed. The WWT apparatus is essentially a bladed wheel which is directly exposed to the wind on the upper half and exposed to wind through multiple ducting on the lower half. The multiple ducts consist of a forward duct (front concentrator) and two side ducts (side concentrators). The forced rotation of the wheel is then converted to power through appropriate subsystems. Test results on two simple models, a paper model and a stainless steel model, are reported. Measured values of power coefficients over wind speeds ranging from 4 to 16 m/s are given. An analytical model of a four bladed wheel is also developed. Overall design features of the wind turbine are evaluated and discussed. Turbine sizing is specified for a 5 and 25 kW machine. Suggested improvements to the original design to increase performance and performance predictions for an improved WWT design are given.

  18. Voluntary Wheel Running in Mice.

    Science.gov (United States)

    Goh, Jorming; Ladiges, Warren

    2015-12-02

    Voluntary wheel running in the mouse is used to assess physical performance and endurance and to model exercise training as a way to enhance health. Wheel running is a voluntary activity in contrast to other experimental exercise models in mice, which rely on aversive stimuli to force active movement. This protocol consists of allowing mice to run freely on the open surface of a slanted, plastic saucer-shaped wheel placed inside a standard mouse cage. Rotations are electronically transmitted to a USB hub so that frequency and rate of running can be captured via a software program for data storage and analysis for variable time periods. Mice are individually housed so that accurate recordings can be made for each animal. Factors such as mouse strain, gender, age, and individual motivation, which affect running activity, must be considered in the design of experiments using voluntary wheel running. Copyright © 2015 John Wiley & Sons, Inc.

  19. Wheels lining up for ATLAS

    CERN Multimedia

    2003-01-01

    On 30 October, the mechanics test assembly of the central barrel of the ATLAS tile hadronic calorimeter was completed in building 185. It is the second wheel for the Tilecal completely assembled this year.

  20. Grinding Wheel Profile

    Science.gov (United States)

    2004-01-01

    This graphic dubbed by engineers as the 'Grinding Wheel Profile' is the detective's tool used by the Opportunity team to help them understand one of the processes that formed the interior of a rock called 'McKittrick.' Scientists are looking for clues as to how layers, grains and minerals helped create this rock, and the engineers who built the rock abrasion tool (RAT) wanted to ensure that their instrument's handiwork did not get confused with natural processes.In the original microscopic image underlaying the graphics, engineers and scientists noticed 'layers' or 'scratches' on the spherical object nicknamed 'blueberry' in the lower right part of the image. The designers of the rock abrasion tool noticed that the arc length and width of the scratches were similar to the shape and size of the rock abrasion tool's grinding wheel, which is made out of a pad of diamond teeth.The scrapes on the bottom right blueberry appear to be caused by the fact that the berry got dislodged slightly and its surface was scraped with the grinding pad. In this image, the largest yellow circle is the overall diameter of the hole ground by the rock abrasion tool and the largest yellow rectangular shape is the area of the grinding wheel bit. The smaller yellow semi-circle is the path that the center of the grinding tool follows. The orange arrow arcing around the solid yellow circle (center of grinding tool) indicates the direction that the grinding tool spins around its own center at 3,000 revolutions per minute. The tool simultaneously spins in an orbit around the center of the hole, indicated by the larger orange arrow to the left.The grinding tool is 22 millimeters (0.9 inches) in length and the actual grinding surface, which consists of the diamond pad, is 1.5 millimeters (0.06 inches) in length, indicated by the two smaller rectangles. You can see that the smaller bottom rectangle fits exactly the width of the scrape marks.The grooves on the blueberry are also the same as the

  1. Analysis of Flexible Car Body of Straddle Monorail Vehicle

    Science.gov (United States)

    Zhong, Yuanmu

    2018-03-01

    Based on the finite element model of straddle monorail vehicle, a rigid-flexible coupling dynamic model considering vehicle body’s flexibility is established. The influence of vertical stiffness and vertical damping of the running wheel on the modal parameters of the car body is analyzed. The effect of flexible car body on modal parameters and vehicle ride quality is also studied. The results show that when the vertical stiffness of running wheel is less than 1 MN / m, the car body bounce and pitch frequency increase with the increasing of the vertical stiffness of the running wheel, when the running wheel vertical stiffness is 1MN / m or more, car body bounce and pitch frequency remained unchanged; When the vertical stiffness of the running wheel is below 1.8 MN / m, the vehicle body bounce and pitch damping ratio increase with the increasing of the vertical stiffness of the running wheel; When the running wheel vertical stiffness is 1.8MN / m or more, the car body bounce and pitch damping ratio remained unchanged; The running wheel vertical damping on the car body bounce and pitch frequency has no effect; Car body bounce and pitch damping ratio increase with the increasing of the vertical damping of the running wheel. The flexibility of the car body has no effect on the modal parameters of the car, which will improve the vehicle ride quality index.

  2. Estimating the Backup Reaction Wheel Orientation Using Reaction Wheel Spin Rates Flight Telemetry from a Spacecraft

    Science.gov (United States)

    Rizvi, Farheen

    2013-01-01

    A report describes a model that estimates the orientation of the backup reaction wheel using the reaction wheel spin rates telemetry from a spacecraft. Attitude control via the reaction wheel assembly (RWA) onboard a spacecraft uses three reaction wheels (one wheel per axis) and a backup to accommodate any wheel degradation throughout the course of the mission. The spacecraft dynamics prediction depends upon the correct knowledge of the reaction wheel orientations. Thus, it is vital to determine the actual orientation of the reaction wheels such that the correct spacecraft dynamics can be predicted. The conservation of angular momentum is used to estimate the orientation of the backup reaction wheel from the prime and backup reaction wheel spin rates data. The method is applied in estimating the orientation of the backup wheel onboard the Cassini spacecraft. The flight telemetry from the March 2011 prime and backup RWA swap activity on Cassini is used to obtain the best estimate for the backup reaction wheel orientation.

  3. New methodology for fast prediction of wheel wear evolution

    Science.gov (United States)

    Apezetxea, I. S.; Perez, X.; Casanueva, C.; Alonso, A.

    2017-07-01

    In railway applications wear prediction in the wheel-rail interface is a fundamental matter in order to study problems such as wheel lifespan and the evolution of vehicle dynamic characteristic with time. However, one of the principal drawbacks of the existing methodologies for calculating the wear evolution is the computational cost. This paper proposes a new wear prediction methodology with a reduced computational cost. This methodology is based on two main steps: the first one is the substitution of the calculations over the whole network by the calculation of the contact conditions in certain characteristic point from whose result the wheel wear evolution can be inferred. The second one is the substitution of the dynamic calculation (time integration calculations) by the quasi-static calculation (the solution of the quasi-static situation of a vehicle at a certain point which is the same that neglecting the acceleration terms in the dynamic equations). These simplifications allow a significant reduction of computational cost to be obtained while maintaining an acceptable level of accuracy (error order of 5-10%). Several case studies are analysed along the paper with the objective of assessing the proposed methodology. The results obtained in the case studies allow concluding that the proposed methodology is valid for an arbitrary vehicle running through an arbitrary track layout.

  4. 78 FR 21191 - NHTSA Activities Under the United Nations World Forum for the Harmonization of Vehicle...

    Science.gov (United States)

    2013-04-09

    ... hybrid-electric vehicles that can run exclusively on an electric motor, electric vehicles and fuel-cell... 3. Quiet Electric and Hybrid-Electric Vehicles 4. Electric Vehicles 5. Light Vehicle Tires B. Status... Technical Prescriptions for Wheeled Vehicles, Equipment and Parts which can be Fitted and/or be Used on...

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

    Science.gov (United States)

    Hua, Yiding; Jiang, Haobin; Geng, Guoqing

    2017-03-01

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

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

    Directory of Open Access Journals (Sweden)

    Linhui Li

    2015-01-01

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

  7. ENHANCING THE STABILITY OF UNMANNED GROUND SPORT UTILITY VEHICLES THROUGH COORDINATED CONTROL UNDER MU-SPLIT AND GUST OF WIND

    Directory of Open Access Journals (Sweden)

    FITRI YAKUB

    2016-10-01

    Full Text Available This study describes a comparative study of steering and yaw moment control manoeuvres in model predictive control (MPC and linear quadratic control approaches for path following unmanned vehicles for different control manoeuvres: two-wheel steering, four-wheel steering, and direct yaw moment control. We then propose MPC with a proportional-integral (PI controller for the coordination of active front steering (AFS and active braking system, which particularly highlights direct yaw moment control (DYC manoeuvres. Based on the known trajectory, we tested a vehicle at middle forward speed with the disturbance consideration of the road surface adhesion and the wind for a double lane change scenario in order to follow the desired trajectory as close as possible, minimizing tracking errors, and enhancing vehicle stability and drivability. We compared two different controllers; i MPC with PI of an AFS and, ii MPC with PI for coordination of AFS and DYC. The operation of the proposed integrated control is demonstrated in a Matlab simulation environment by manoeuvring the vehicle along the desired trajectory. Simulation results showed that the proposed method had yielded better tracking performances, and were able to enhance the vehicle’s stability at a given speed even under road surface coefficient and wind.

  8. Alternative Fuels Data Center: Plug-In Hybrid Electric Vehicles

    Science.gov (United States)

    . Fueling and Driving Options Plug-in hybrid electric vehicle batteries can be charged by an outside sized hybrid electric vehicle. If the vehicle is driven a shorter distance than its all-electric range drives the wheels almost all of the time, but the vehicle can switch to work like a parallel hybrid at

  9. Analysis of power wheeling services

    Energy Technology Data Exchange (ETDEWEB)

    Tepel, R.C.; Jewell, W.; Johnson, R.; Maddigan, R.

    1986-11-01

    Purpose of this study is to examine existing wheeling arrangements to determine the terms of the agreements, to analyze the terms relative to regulatory goals, and finally, to suggest ways in which the arrangements can be modified to lead to outcomes more closely in line with the goals. The regulatory goals that are considered are: Does the arrangement meet the revenue requirement of the wheeling firm. Is efficient use promoted. Are the costs fairly apportioned. And, is the arrangement practical and feasible to implement.

  10. Durability Characteristics Analysis of Plastic Worm Wheel with Glass Fiber Reinforced Polyamide.

    Science.gov (United States)

    Kim, Gun-Hee; Lee, Jeong-Won; Seo, Tae-Il

    2013-05-10

    Plastic worm wheel is widely used in the vehicle manufacturing field because it is favorable for weight lightening, vibration and noise reduction, as well as corrosion resistance. However, it is very difficult for general plastics to secure the mechanical properties that are required for vehicle gears. If the plastic resin is reinforced by glass fiber in the fabrication process of plastic worm wheel, it is possible to achieve the mechanical properties of metallic material levels. In this study, the mechanical characteristic analysis of the glass-reinforced plastic worm wheel, according to the contents of glass fiber, is performed by analytic and experimental methods. In the case of the glass fiber-reinforced resin, the orientation and contents of glass fibers can influence the mechanical properties. For the characteristic prediction of plastic worm wheel, computer-aided engineering (CAE) analysis processes such as structural and injection molding analysis were executed with the polyamide resin reinforcement glass fiber (25 wt %, 50 wt %). The injection mold for fabricating the prototype plastic worm wheel was designed and made to reflect the CAE analysis results. Finally, the durability of prototype plastic worm wheel fabricated by the injection molding process was evaluated by the experimental method and the characteristics according to the glass fiber contents.

  11. 49 CFR 229.73 - Wheel sets.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Wheel sets. 229.73 Section 229.73 Transportation... TRANSPORTATION RAILROAD LOCOMOTIVE SAFETY STANDARDS Safety Requirements Suspension System § 229.73 Wheel sets. (a...) when applied or turned. (b) The maximum variation in the diameter between any two wheel sets in a three...

  12. Fuel Cell Vehicle Basics | NREL

    Science.gov (United States)

    Fuel Cell Vehicle Basics Fuel Cell Vehicle Basics Researchers are developing fuel cells that can be silver four-door sedan being driven on a roadway and containing the words "hydrogen fuel cell electric" across the front and rear doors. This prototype hydrogen fuel cell electric vehicle was

  13. 智能车双电机控制系统的设计%Design of Double Motor Control System for Intelligent Vehicle

    Institute of Scientific and Technical Information of China (English)

    段丽娜; 李若南; 李金龙

    2017-01-01

    针对飞思卡尔智能车竞赛的C型车模,前轮舵机转向,后轮双电机差速,先用PID控制算法使智能车的速度能够稳定,然后根据不同赛道用电控方式对此车模后轮的双电机进行差速控制,满足阿克曼转向原理,在原差速转向基础上进行了改进,并提出了一种阿克曼式差速PID公式,也给出一套对差速参数的整定方案,使双电机差速应用简单化.前轮舵机控制采用偏差二次项ABC的PD控制,让电动智能汽车转向性能得到较大的提高.并且双电机的制动采用一种基于能耗制动和反接制动的一种新的制动方法-棒棒法,这种方法大大缩短了停车时间,提高了停车准确性.%This paper studied the type C model vehicle in the Freescale national intelligent vehicle contest.The distinguishing feature of the vehicle was the adoption of steering on front wheels and doublemotor differential on rear wheels.PID algorithm was applied to stabilize the speed of the vehicle first.Then,the differential of rear wheels was controlled electronically according to different racing tracks.Since the model vehicle satisfies Ackerman principle,improvement can be made and an Ackerman differential PID equation and aset of setting scheme about the differential parameters were then put forward,which had simplified the application of double-motor differential.PD control on the steering engine of front wheels has improved steering performance ofthe electric vehicle greatly.Besides,doublemotor braking,which is a new braking mode based on dynamic braking and plug braking,largely shortens parking time and improves the accuracy.It is easy,efficient and convenient.

  14. New Record Five-Wheel Drive, Spirit's Sol 1856

    Science.gov (United States)

    2009-01-01

    NASA's Mars Exploration Rover Spirit used its navigation camera to take the images that have been combined into this stereo, 180-degree view of the rover's surroundings during the 1,856th Martian day, or sol, of Spirit's surface mission (March 23, 2009). The center of the view is toward the west-southwest. The rover had driven 25.82 meters (84.7 feet) west-northwestward earlier on Sol 1856. This is the longest drive on Mars so far by a rover using only five wheels. Spirit lost the use of its right-front wheel in March 2006. Before Sol 1856, the farthest Spirit had covered in a single sol's five-wheel drive was 24.83 meters (81.5 feet), on Sol 1363 (Nov. 3, 2007). The Sol 1856 drive made progress on a route planned for taking Spirit around the western side of the low plateau called 'Home Plate.' A portion of the northwestern edge of Home Plate is prominent in the left quarter of this image, toward the south. This view is presented as a cylindrical projection with geometric seam correction.

  15. Recovery tread wheel pairs of machining

    Directory of Open Access Journals (Sweden)

    Igor IVANOV

    2013-01-01

    Full Text Available The basic methods of resurfacing wheels are determined and analised. It’sshown that for raising resource of used wheels and decreasing requirements of railwaytransport for new wheels it’s reasonable to use methods of recovering not only geometricparameters of rim, but also its mechanical properties. It’s marked that use of infeedprofile high-speed grinding (VPVSh enables to intensify significantly process ofmechanical treatment of wheel rim profile both when its resurfacing in service and whenmanufacturing new wheel.

  16. Design of Embedded System and Data Communication for an Agricultural Autonomous Vehicle

    DEFF Research Database (Denmark)

    Nielsen, Jens F. Dalsgaard; Nielsen, Kirsten Mølgaard; Bendtsen, Jan Dimon

    2005-01-01

    This paper describes an implemented design of an autonomous vehicle used in precision agriculture for weed and crop map construction with special focus on the onboard controlsystem, the embedded system and the datacommunication system. The vehicle is four wheel driven and four wheel steered (eight...

  17. Steering redundancy for self-driving vehicles using differential braking

    Science.gov (United States)

    Jonasson, M.; Thor, M.

    2018-05-01

    This paper describes how differential braking can be used to turn a vehicle in the context of providing fail-operational control for self-driving vehicles. Two vehicle models are developed with differential input. The models are used to explain the bounds of curvature that differential braking provides and they are then validated with measurements in a test vehicle. Particular focus is paid on wheel suspension effects that significantly influence the obtained curvature. The vehicle behaviour and its limitations due to wheel suspension effects are, owing to the vehicle models, defined and explained. Finally, a model-based controller is developed to control the vehicle curvature during a fault by differential braking. The controller is designed to compensate for wheel angle disturbance that is likely to occur during the control event.

  18. Modular Robotic Vehicle

    Science.gov (United States)

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

    2015-01-01

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

  19. 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.

  20. Three omni-directional wheels control on a mobile robot

    OpenAIRE

    Ribeiro, António Fernando; Moutinho, Ivo; Silva, Pedro; Fraga, Carlos; Pereira, Nino

    2004-01-01

    Traditional two wheels differential drive normally used on mobile robots have manoeuvrability limitations and take time to sort out. Most teams use two driving wheels (with one or two cast wheels), four driving wheels and even three driving wheels. A three wheel drive with omni-directional wheel has been tried with success, and was implemented on fast moving autonomous mobile robots. This paper deals with the mathematical kinematics description of such mobile platform, it describes the advant...

  1. Aspects to improve cabin comfort of wheel loaders and excavators according to operators

    NARCIS (Netherlands)

    Kuijt-Evers, L.F.M.; Krause, F.; Vink, P.

    2003-01-01

    Comfort plays an increasingly important role in interior design of earth moving equipment. Although research has been conducted on vehicle interiors of wheel loaders and excavators, hardly any information is known about the operator's opinion. In this study a questionnaire was completed by machine

  2. Understanding the Influence of Pressure and Radial Loads on Stress and Displacement Response of a Rotating Body: The Automobile Wheel

    Directory of Open Access Journals (Sweden)

    2006-01-01

    Full Text Available This paper highlights the use of the finite element technique for analyzing stress and displacement distributions in wheels of automotive vehicles when subject to the conjoint influence of inflation pressure and radial load. The most commonly used considerations in the design of the rotating body are elucidated. A potentially viable technique for finite element modeling of radial wheel, subjected to loading, is highlighted. The extrinsic influence of inflation pressure on performance of the rotating body, that is, the wheel, is rationalized.

  3. Development of Trigger and Readout Electronics for the ATLAS New Small Wheel Detector Upgrade

    CERN Document Server

    Guan, Liang; The ATLAS collaboration

    2017-01-01

    The present small wheel muon detector at ATLAS will be replaced with a New Small Wheel (NSW) detector to handle the increase in data rates and harsh radiation environment expected at the LHC. Resistive Micromegas and small strip Thin Gap Chambers will be used to provide both trigger and tracking primitives. Muon segments found at NSW will be combined with the segments found at the Big Wheel to determine the muon transverse momentum at the first-level trigger. A new trigger and readout system is developed for the NSW detector. The new system has about 2.4 million trigger and readout channels and about 8,000 Front-End boards. The large number of input channels, short time available to prepare and transmit data, harsh radiation environment, and low power consumption all impose great challenges on the design. We will discuss the overall electronics design and studies with various ASICs and high-speed circuit board prototypes.

  4. Space shuttle wheels and brakes

    Science.gov (United States)

    Carsley, R. B.

    1985-01-01

    The Space Shuttle Orbiter wheels were subjected to a combination of tests which are different than any previously conducted in the aerospace industry. The major testing difference is the computer generated dynamic landing profiles used during the certification process which subjected the wheels and tires to simulated landing loading conditions. The orbiter brakes use a unique combination of carbon composite linings and beryllium heat sink to minimize weight. The development of a new lining retention method was necessary in order to withstand the high temperature generated during the braking roll. As with many programs, the volume into which this hardware had to fit was established early in the program, with no provisions made for growth to offset the continuously increasing predicted orbiter landing weight.

  5. Negative Ion Density Fronts

    International Nuclear Information System (INIS)

    Igor Kaganovich

    2000-01-01

    Negative ions tend to stratify in electronegative plasmas with hot electrons (electron temperature Te much larger than ion temperature Ti, Te > Ti ). The boundary separating a plasma containing negative ions, and a plasma, without negative ions, is usually thin, so that the negative ion density falls rapidly to zero-forming a negative ion density front. We review theoretical, experimental and numerical results giving the spatio-temporal evolution of negative ion density fronts during plasma ignition, the steady state, and extinction (afterglow). During plasma ignition, negative ion fronts are the result of the break of smooth plasma density profiles during nonlinear convection. In a steady-state plasma, the fronts are boundary layers with steepening of ion density profiles due to nonlinear convection also. But during plasma extinction, the ion fronts are of a completely different nature. Negative ions diffuse freely in the plasma core (no convection), whereas the negative ion front propagates towards the chamber walls with a nearly constant velocity. The concept of fronts turns out to be very effective in analysis of plasma density profile evolution in strongly non-isothermal plasmas

  6. Railway bogie vibration analysis by mathematical simulation model and a scaled four-wheel railway bogie set

    Science.gov (United States)

    Visayataksin, Noppharat; Sooklamai, Manon

    2018-01-01

    The bogie is the part that connects and transfers all the load from the vehicle body onto the railway track; interestingly the interaction between wheels and rails is the critical point for derailment of the rail vehicles. However, observing or experimenting with real bogies on rail vehicles is impossible due to the operational rules and safety concerns. Therefore, this research aimed to develop a vibration analysis set for a four-wheel railway bogie by constructing a four-wheel bogie with scale of 1:4.5. The bogie structures, including wheels and axles, were made from an aluminium alloy, equipped with springs and dampers. The bogie was driven by an electric motor using 4 round wheels instead of 2 straight rails, with linear velocity between 0 to 11.22 m/s. The data collected from the vibration analysis set was compared to the mathematical simulation model to investigate the vibration behavior of the bogie, especially the hunting motion. The results showed that vibration behavior from a scaled four-wheel railway bogie set significantly agreed with the mathematical simulation model in terms of displacement and hunting frequency. The critical speed of the wheelset was found by executing the mathematical simulation model at 13 m/s.

  7. The Effect of First-Order Bending Resonance of Wheelset at High Speed on Wheel-Rail Contact Behavior

    Directory of Open Access Journals (Sweden)

    Shuoqiao Zhong

    2013-01-01

    Full Text Available The first-order bending deformation of wheelset is considered in the modeling vehicle/track coupling dynamic system to investigate its effect on wheel/rail contact behavior. In considering the effect of the first-order bending resonance on the rolling contact of wheel/rail, a new wheel/rail contact model is derived in detail in the modeling vehicle/track coupling dynamic system, in which the many intermediate coordinate systems and complex coordinate system transformations are used. The bending mode shape and its corresponding frequency of the wheelset are obtained through the modal analysis by using commercial software ANSYS. The modal superposition method is used to solve the differential equations of wheelset motion considering its flexible deformation due to the first-order bending resonance. In order to verify the present model and clarify the influence of the first-order bending deformation of wheelset on wheel/track contact behavior, a harmonic track irregularity with a fixed wavelength and a white-noise roughness are, respectively used as the excitations in the two models of vehicle-rail coupling dynamic system, one considers the effect of wheelset bending deformation, and the other does not. The numerical results indicate that the wheelset first-order bending deformation has an influence on wheel/rail rolling contact behavior and is easily excited under wheel/rail roughness excitation.

  8. 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,...

  9. Reaction wheels for kinetic energy storage

    Science.gov (United States)

    Studer, P. A.

    1984-11-01

    In contrast to all existing reaction wheel implementations, an order of magnitude increase in speed can be obtained efficiently if power to the actuators can be recovered. This allows a combined attitude control-energy storage system to be developed with structure mounted reaction wheels. The feasibility of combining reaction wheels with energy storage wwheels is demonstrated. The power required for control torques is a function of wheel speed but this energy is not dissipated; it is stored in the wheel. The I(2)R loss resulting from a given torque is shown to be constant, independent of the design speed of the motor. What remains, in order to efficiently use high speed wheels (essential for energy storage) for control purposes, is to reduce rotational losses to acceptable levels. Progress was made in permanent magnet motor design for high speed operation. Variable field motors offer more control flexibility and efficiency over a broader speed range.

  10. JPL's electric and hybrid vehicles project: Project activities and preliminary test results. [power conditioning and battery charge efficiency

    Science.gov (United States)

    Barber, T. A.

    1980-01-01

    Efforts to achieve a 100 mile urban range, to reduce petroleum usage 40% to 70%, and to commercialize battery technology are discussed with emphasis on an all plastic body, four passenger car that is flywheel assisted and battery powered, and on an all metal body, four passenger car with front wheel drive and front motor. For the near term case, a parallel hybrid in which the electric motor and the internal combustion engine may directly power the drive wheels, is preferred to a series design. A five passenger car in which the electric motor and the gasoline engine both feed into the same transmission is discussed. Upgraded demonstration vehicles were tested using advanced lead acid, nickel zinc, nickel iron, and zinc chloride batteries to determine maximum acceleration, constant speed, and battery behavior. The near term batteries demonstrated significant improvement relative to current lead acid batteries. The increase in range was due to improved energy density, and ampere hour capacity, with relatively 1 small weight and volume differences.

  11. Origami Wheel Transformer: A Variable-Diameter Wheel Drive Robot Using an Origami Structure.

    Science.gov (United States)

    Lee, Dae-Young; Kim, Sa-Reum; Kim, Ji-Suk; Park, Jae-Jun; Cho, Kyu-Jin

    2017-06-01

    A wheel drive mechanism is simple, stable, and efficient, but its mobility in unstructured terrain is seriously limited. Using a deformable wheel is one of the ways to increase the mobility of a wheel drive robot. By changing the radius of its wheels, the robot becomes able to pass over not only high steps but also narrow gaps. In this article, we propose a novel design for a variable-diameter wheel using an origami-based soft robotics design approach. By simply folding a patterned sheet into a wheel shape, a variable-diameter wheel was built without requiring lots of mechanical parts and a complex assembly process. The wheel's diameter can change from 30 to 68 mm, and it is light in weight at about 9.7 g. Although composed of soft materials (fabrics and films), the wheel can bear more than 400 times its weight. The robot was able to change the wheel's radius in response to terrain conditions, allowing it to pass over a 50-mm gap when the wheel is shrunk and a 50-mm step when the wheel is enlarged.

  12. Experimental investigation into wing span and angle-of-attack effects on sub-scale race car wing/wheel interaction aerodynamics

    Energy Technology Data Exchange (ETDEWEB)

    Diasinos, S. [Toyota F1, Koeln (Germany); Gatto, A. [Brunel University, Department of Mechanical Engineering, School of Engineering and Design, Uxbridge (United Kingdom)

    2008-09-15

    This paper details a quantitative 3D investigation using LDA into the interaction aerodynamics on a sub-scale open wheel race car inverted front wing and wheel. Of primary importance to this study was the influence of changing wing angle of attack and span on the resulting near-field and far-field flow characteristics. Results obtained showed that both variables do have a significant influence on the resultant flow-field, particularly on wing vortex and wheel wake development and propagation. (orig.)

  13. Experimental investigation into wing span and angle-of-attack effects on sub-scale race car wing/wheel interaction aerodynamics

    Science.gov (United States)

    Diasinos, S.; Gatto, A.

    2008-09-01

    This paper details a quantitative 3D investigation using LDA into the interaction aerodynamics on a sub-scale open wheel race car inverted front wing and wheel. Of primary importance to this study was the influence of changing wing angle of attack and span on the resulting near-field and far-field flow characteristics. Results obtained showed that both variables do have a significant influence on the resultant flow-field, particularly on wing vortex and wheel wake development and propagation.

  14. A development of the distributive law of points on the multi-wheeled machine wheels with electro-mechanical transmission, made under the scheme "motor-axis"

    Directory of Open Access Journals (Sweden)

    M. M. Jileikin

    2014-01-01

    Full Text Available Currently, developers of multi-wheeled vehicles (MWV show growing interest in electromechanical drive in the «motor-axis» implementation. However, in designing the traction electric drive (TED based on such approach the problems arise, primarily, from a lack of creating experience and of ready algorithmic solutions to control the traction motors. The use of methods to implement the individual TED is impossible because of the presence of cross-axle differential in the leading axle drive, which does not allow the input torque control of each wheel singly. The paper offers a law to control a traction electric drive of MWV leading axles that comprises the law to control the tractive effort torque and braking moment on the leading axles as well as algorithms of anti-lock brake and traction control systems.An analysis of simulation modeling results shows an efficiency of the developed law that allows control of the traction electric drive of MWV leading axles. The control law includes an algorithm to control the tractive effort torque and braking moment on the driving-wheels, as well as algorithms of anti-lock brake and traction systems.At stationary (constant speed rotation and non-stationary (elk test maneuvering there was no spin of vehicle wheels. Angular speeds of the wheels vary smoothly. Partial loss of vehicle stability when making maneuvers on ice may be reduced through development of algorithms for dynamic stabilization, which will improve the MWV road-holding and trajectory ability. Fullscale tests of MWV with traction electric drive implemented using a “motor-axis" approach are required to have a final answer on the performance and effectiveness of the developed control law.

  15. Experience of the ARGO autonomous vehicle

    Science.gov (United States)

    Bertozzi, Massimo; Broggi, Alberto; Conte, Gianni; Fascioli, Alessandra

    1998-07-01

    This paper presents and discusses the first results obtained by the GOLD (Generic Obstacle and Lane Detection) system as an automatic driver of ARGO. ARGO is a Lancia Thema passenger car equipped with a vision-based system that allows to extract road and environmental information from the acquired scene. By means of stereo vision, obstacles on the road are detected and localized, while the processing of a single monocular image allows to extract the road geometry in front of the vehicle. The generality of the underlying approach allows to detect generic obstacles (without constraints on shape, color, or symmetry) and to detect lane markings even in dark and in strong shadow conditions. The hardware system consists of a PC Pentium 200 Mhz with MMX technology and a frame-grabber board able to acquire 3 b/w images simultaneously; the result of the processing (position of obstacles and geometry of the road) is used to drive an actuator on the steering wheel, while debug information are presented to the user on an on-board monitor and a led-based control panel.

  16. Cultural observations on the history of wheels; Sharin no rekishi no bunkashiteki kosatsu

    Energy Technology Data Exchange (ETDEWEB)

    Tsuboi, Y [Koyo Seiko Co. Ltd., Osaka (Japan)

    1997-10-01

    Since primitive times, mankind has been involved in the field of tribology through the use of sliding, rolling, rotation and similar types of motion. Various devices have been used to perform such motion, and in this lecture I will trace their history from the rollers used in ancient Mesopotamia to aid in pulling sleds to the wheels used on chariots and other vehicles throughout history until modem times. I will offer my observations on the role technology related to such rollers and wheels has played in the world`s cultures and discuss the necessity of studying technology from such a viewpoint. 11 refs., 7 figs.

  17. Wheel slip control with torque blending using linear and nonlinear model predictive control

    Science.gov (United States)

    Basrah, M. Sofian; Siampis, Efstathios; Velenis, Efstathios; Cao, Dongpu; Longo, Stefano

    2017-11-01

    Modern hybrid electric vehicles employ electric braking to recuperate energy during deceleration. However, currently anti-lock braking system (ABS) functionality is delivered solely by friction brakes. Hence regenerative braking is typically deactivated at a low deceleration threshold in case high slip develops at the wheels and ABS activation is required. If blending of friction and electric braking can be achieved during ABS events, there would be no need to impose conservative thresholds for deactivation of regenerative braking and the recuperation capacity of the vehicle would increase significantly. In addition, electric actuators are typically significantly faster responding and would deliver better control of wheel slip than friction brakes. In this work we present a control strategy for ABS on a fully electric vehicle with each wheel independently driven by an electric machine and friction brake independently applied at each wheel. In particular we develop linear and nonlinear model predictive control strategies for optimal performance and enforcement of critical control and state constraints. The capability for real-time implementation of these controllers is assessed and their performance is validated in high fidelity simulation.

  18. A fuzzy logic sliding mode controlled electronic differential for a direct wheel drive EV

    Science.gov (United States)

    Ozkop, Emre; Altas, Ismail H.; Okumus, H. Ibrahim; Sharaf, Adel M.

    2015-11-01

    In this study, a direct wheel drive electric vehicle based on an electronic differential system with a fuzzy logic sliding mode controller (FLSMC) is studied. The conventional sliding surface is modified using a fuzzy rule base to obtain fuzzy dynamic sliding surfaces by changing its slopes using the global error and its derivative in a fuzzy logic inference system. The controller is compared with proportional-integral-derivative (PID) and sliding mode controllers (SMCs), which are usually preferred to be used in industry. The proposed controller provides robustness and flexibility to direct wheel drive electric vehicles. The fuzzy logic sliding mode controller, electronic differential system and the overall electrical vehicle mechanism are modelled and digitally simulated by using the Matlab software. Simulation results show that the system with FLSMC has better efficiency and performance compared to those of PID and SMCs.

  19. Greasing the Wheels of Trade

    OpenAIRE

    Hendrik P. van Dalen; Aico P. van Vuuren

    2003-01-01

    This discussion paper resulted in a publication in 'De Economist' , 2005, 153(2), 139-165. How much does a nation spend on resources to 'grease the wheels of trade'? To examine this question the Dutch economy is used as an exemplary case as the Netherlands are known as a nation of traders. This image was derived in the seventeenth century from successes in long distance trade, shipping and financial innovations. Despite its historical background in trading the potential to 'truck and barter' ...

  20. Prediction Study on Anti-Slide Control of Railway Vehicle Based on RBF Neural Networks

    Science.gov (United States)

    Yang, Lijun; Zhang, Jimin

    While railway vehicle braking, Anti-slide control system will detect operating status of each wheel-sets e.g. speed difference and deceleration etc. Once the detected value on some wheel-set is over pre-defined threshold, brake effort on such wheel-set will be adjusted automatically to avoid blocking. Such method takes effect on guarantee safety operation of vehicle and avoid wheel-set flatness, however it cannot adapt itself to the rail adhesion variation. While wheel-sets slide, the operating status is chaotic time series with certain law, and can be predicted with the law and experiment data in certain time. The predicted values can be used as the input reference signals of vehicle anti-slide control system, to judge and control the slide status of wheel-sets. In this article, the RBF neural networks is taken to predict wheel-set slide status in multi-step with weight vector adjusted based on online self-adaptive algorithm, and the center & normalizing parameters of active function of the hidden unit of RBF neural networks' hidden layer computed with K-means clustering algorithm. With multi-step prediction simulation, the predicted signal with appropriate precision can be used by anti-slide system to trace actively and adjust wheel-set slide tendency, so as to adapt to wheel-rail adhesion variation and reduce the risk of wheel-set blocking.

  1. Mechatronic modeling of real-time wheel-rail contact

    CERN Document Server

    Bosso, Nicola; Gugliotta, Antonio; Somà, Aurelio

    2013-01-01

    Real-time simulations of the behaviour of a rail vehicle require realistic solutions of the wheel-rail contact problem which can work in a real-time mode. Examples of such solutions for the online mode have been well known and are implemented within standard and commercial tools for the simulation codes for rail vehicle dynamics. This book is the result of the research activities carried out by the Railway Technology Lab of the Department of Mechanical and Aerospace Engineering at Politecnico di Torino. This book presents work on the project for the development of a real-time wheel-rail contact model and provides the simulation results obtained with dSpace real-time hardware. Besides this, the implementation of the contact model for the development of a real-time model for the complex mechatronic system of a scaled test rig is presented in this book and may be useful for the further validation of the real-time contact model with experiments on a full scale test rig.

  2. Meals on Wheels Association of America

    Science.gov (United States)

    ... Meals About Meals on Wheels Get Started The Issue The Problem & Our Solution Meals on Wheels Health Facts & Resources Senior Facts Map State Fact Sheets Research More Than a Meal Pilot Research Study Medicare Claims Analyses Policy Myths Hunger in Older Adults Take Action Volunteer Advocate #SAVELUNCH ...

  3. A Full Disturbance Model for Reaction Wheels

    NARCIS (Netherlands)

    Le, M.P.; Ellenbroek, Marcellinus Hermannus Maria; Seiler, R; van Put, P.; Cottaar, E.J.E.

    2014-01-01

    Reaction wheels are rotating devices used for the attitude control of spacecraft. However, reaction wheels also generate undesired disturbances in the form of vibrations, which may have an adverse effect on the pointing accuracy and stability of spacecraft (optical) payloads. A disturbance model for

  4. Assessment of a Boat Fractured Steering Wheel

    Directory of Open Access Journals (Sweden)

    Vukelic Goran

    2016-09-01

    Full Text Available During regular use of the steering wheel mounted on a boat, two cracks emanating from a fastener hole were noticed which, consequently, caused final fracture of the wheel. To determine the behavior of a boat steering wheel with cracks present, assessment of a fractured wheel was performed. Torque moments of the fasteners were measured prior to removing the steering wheel from the boat. Visual and dye penetrant inspection followed along with the material detection. Besides using experimental procedures, assessment of the fractured wheel was performed using finite element analysis, i.e. stress intensity factor values were numerically determined. Variation of stress intensity factor with crack length is presented. Possible causes of crack occurrence are given and they include excessive values of fastener torque moments coupled with fretting between fastener and fastener hole that was poorly machined. Results obtained by this assessment can be taken for predicting fracture behavior of a cracked steering wheel and as a reference in the design, mounting and exploitation process of steering wheels improving that way their safety in transportation environment.

  5. Riding the Ferris Wheel: A Sinusoidal Model

    Science.gov (United States)

    Mittag, Kathleen Cage; Taylor, Sharon E.

    2011-01-01

    When thinking of models for sinusoidal waves, examples such as tides of the ocean, daily temperatures for one year in your town, light and sound waves, and certain types of motion are used. Many textbooks [1, p. 222] also present a "Ferris wheel description problem" for students to work. This activity takes the Ferris wheel problem out of the…

  6. The Ferris Wheel and Justifications of Curvature

    Science.gov (United States)

    Stevens, Irma E.; Moore, Kevin C.

    2016-01-01

    This report discusses the results of semi-structured clinical interviews with ten prospective secondary mathematics teachers who were provided with dynamic images of Ferris wheels. We asked the students to graph the relationship between the distance a rider traveled around the Ferris wheel and the height of the rider from the ground. We focus on…

  7. 29 CFR 1915.134 - Abrasive wheels.

    Science.gov (United States)

    2010-07-01

    ... 29 Labor 7 2010-07-01 2010-07-01 false Abrasive wheels. 1915.134 Section 1915.134 Labor Regulations Relating to Labor (Continued) OCCUPATIONAL SAFETY AND HEALTH ADMINISTRATION, DEPARTMENT OF LABOR... wheels shall fit freely on the spindle and shall not be forced on. The spindle nut shall be tightened...

  8. Dynamic and Acoustic Characterisation of Automotive Wheels

    Directory of Open Access Journals (Sweden)

    Francesca Curà

    2004-01-01

    Full Text Available The subject of this paper is the dynamic and acoustic characterisation of an automotive wheel. In particular, an experimental research activity previously performed by the authors about the dynamic behaviour of automotive wheels has been extended to the acoustic field.

  9. 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

  10. Fault prevention by early stage symptoms detection for automatic vehicle transmission using pattern recognition and curve fitting

    Science.gov (United States)

    Balbin, Jessie R.; Cruz, Febus Reidj G.; Abu, Jon Ervin A.; Siño, Carlo G.; Ubaldo, Paolo E.; Zulueta, Christelle Jianne T.

    2017-06-01

    Automobiles have become essential parts of our everyday lives. It can correlate many factors that may affect a vehicle primarily those which may inconvenient or in some cases harm lives or properties. Thus, focusing on detecting an automatic transmission vehicle engine, body and other parts that cause vibration and sound may help prevent car problems using MATLAB. By using sound, vibration, and temperature sensors to detect the defects of the car and with the help of the transmitter and receiver to gather data wirelessly, it is easy to install on to the vehicle. A technique utilized from Toyota Balintawak Philippines that every car is treated as panels(a, b, c, d, and e) 'a' being from the hood until the front wheel of the car and 'e' the rear shield to the back of the car, this was applied on how to properly place the sensors so that precise data could be gathered. Data gathered would be compared to the normal graph taken from the normal status or performance of a vehicle, data that would surpass 50% of the normal graph would be considered that a problem has occurred. The system is designed to prevent car accidents by determining the current status or performance of the vehicle, also keeping people away from harm.

  11. Light-Front QCD

    Energy Technology Data Exchange (ETDEWEB)

    Brodsky, S.

    2004-11-30

    In these lectures, I survey a number of applications of light-front methods to hadron and nuclear physics phenomenology and dynamics, including light-front statistical physics. Light-front Fock-state wavefunctions provide a frame-independent representation of hadrons in terms of their fundamental quark and gluon degrees of freedom. Nonperturbative methods for computing LFWFs in QCD are discussed, including string/gauge duality which predicts the power-law fall-off at high momentum transfer of light-front Fock-state hadronic wavefunctions with an arbitrary number of constituents and orbital angular momentum. The AdS/CFT correspondence has important implications for hadron phenomenology in the conformal limit, including an all-orders derivation of counting rules for exclusive processes. One can also compute the hadronic spectrum of near-conformal QCD assuming a truncated AdS/CFT space. Given the LFWFs, one can compute form factors, heavy hadron decay amplitudes, hadron distribution amplitudes, and the generalized parton distributions underlying deeply virtual Compton scattering. The quantum fluctuations represented by the light-front Fock expansion leads to novel QCD phenomena such as color transparency, intrinsic heavy quark distributions, diffractive dissociation, and hidden-color components of nuclear wavefunctions. A new test of hidden color in deuteron photodisintegration is proposed. The origin of leading-twist phenomena such as the diffractive component of deep inelastic scattering, single-spin asymmetries, nuclear shadowing and antishadowing is also discussed; these phenomena cannot be described by light-front wavefunctions of the target computed in isolation. Part of the anomalous NuTeV results for the weak mixing angle {theta}{sub W} could be due to the non-universality of nuclear antishadowing for charged and neutral currents.

  12. Beam front accelerators

    International Nuclear Information System (INIS)

    Reiser, M.

    1982-01-01

    An intense relativistic electron beam cannot propagate in a metal drift tube when the current exceeds the space charge limit. Very high charge density and electric field gradients (10 2 to 10 3 MV/m) develop at the beam front and the electrons are reflected. When a neutral gas or a plasma is present, collective acceleration of positive ions occur, and the resulting charge neutralization enables the beam to propagate. Experimental results, theoretical understanding, and schemes to achieve high ion energies by external control of the beam front velocity will be reviewed

  13. New Record Five-Wheel Drive, Spirit's Sol 1856 (Stereo)

    Science.gov (United States)

    2009-01-01

    [figure removed for brevity, see original site] Left-eye view of a color stereo pair for PIA11962 [figure removed for brevity, see original site] Right-eye view of a color stereo pair for PIA11962 NASA's Mars Exploration Rover Spirit used its navigation camera to take the images that have been combined into this stereo, 180-degree view of the rover's surroundings during the 1,856th Martian day, or sol, of Spirit's surface mission (March 23, 2009). The center of the view is toward the west-southwest. This view combines images from the left-eye and right-eye sides of the navigation camera. It appears three-dimensional when viewed through red-blue glasses with the red lens on the left. The rover had driven 25.82 meters (84.7 feet) west-northwestward earlier on Sol 1856. This is the longest drive on Mars so far by a rover using only five wheels. Spirit lost the use of its right-front wheel in March 2006. Before Sol 1856, the farthest Spirit had covered in a single sol's five-wheel drive was 24.83 meters (81.5 feet), on Sol 1363 (Nov. 3, 2007). The Sol 1856 drive made progress on a route planned for taking Spirit around the western side of the low plateau called 'Home Plate.' A portion of the northwestern edge of Home Plate is prominent in the left quarter of this image, toward the south. This view is presented as a cylindrical-perspective projection with geometric seam correction.

  14. The Comparative Analysis and Evaluation of Ecological Characteristics of Drum and Disk Wheel Brakes

    Directory of Open Access Journals (Sweden)

    Aleksandr Revin

    2011-04-01

    Full Text Available It is well-known that automobile transport as well as industry are the main sources of air pollution. In addition to exhaust gases, the flow of traffic releases a cloud of dust, consisting of over 60% of micro- and ultramicroscopic particles with radius of 10.0–0.25 µm, which are formed due to wheel abrasion (caused by the road grip of a tyre and the use of the brake blocks (in braking. The products formed in the process of wearing of the wheel brake pads are also the sources of the mass of fine dispersed particles over an urban highway. The authors analyse and evaluate ecological characteristics of drum and disk wheel brakes of vehicles.Article in Russian

  15. Elimination of torque pulsations in a direct drive EV wheel motor

    Energy Technology Data Exchange (ETDEWEB)

    Hredzak, B.; Gair, S. [Napier Univ., Edinburgh (United Kingdom); Eastham, J.F. [Univ. of Bath (United Kingdom)

    1996-09-01

    Double sided axial field machines are attractive for direct wheel drives in electric vehicles. This is due to the fact that stator/rotor misalignments can be accommodated. In this case the stator of the machine is envisaged mounted on the chassis of the car while the rotor directly drives the road wheel. Since the wheel is perturbed by the road surface the rotor will move vertically between the outside stator assemblies and thus give rise to torque pulsations. A vector control scheme has been implemented whereby the torque pulsations are eliminated by (i) calculation of the flux variation due to the rotor perturbation and (ii) using this signal for the modulation of the motor input current.

  16. Emissions from US waste collection vehicles

    International Nuclear Information System (INIS)

    Maimoun, Mousa A.; Reinhart, Debra R.; Gammoh, Fatina T.; McCauley Bush, Pamela

    2013-01-01

    Highlights: ► Life-cycle emissions for alternative fuel technologies. ► Fuel consumption of alternative fuels for waste collection vehicles. ► Actual driving cycle of waste collection vehicles. ► Diesel-fueled waste collection vehicle emissions. - Abstract: This research is an in-depth environmental analysis of potential alternative fuel technologies for waste collection vehicles. Life-cycle emissions, cost, fuel and energy consumption were evaluated for a wide range of fossil and bio-fuel technologies. Emission factors were calculated for a typical waste collection driving cycle as well as constant speed. In brief, natural gas waste collection vehicles (compressed and liquid) fueled with North-American natural gas had 6–10% higher well-to-wheel (WTW) greenhouse gas (GHG) emissions relative to diesel-fueled vehicles; however the pump-to-wheel (PTW) GHG emissions of natural gas waste collection vehicles averaged 6% less than diesel-fueled vehicles. Landfill gas had about 80% lower WTW GHG emissions relative to diesel. Biodiesel waste collection vehicles had between 12% and 75% lower WTW GHG emissions relative to diesel depending on the fuel source and the blend. In 2011, natural gas waste collection vehicles had the lowest fuel cost per collection vehicle kilometer travel. Finally, the actual driving cycle of waste collection vehicles consists of repetitive stops and starts during waste collection; this generates more emissions than constant speed driving

  17. Rover's Wheel Churns Up Bright Martian Soil (False Color)

    Science.gov (United States)

    2009-01-01

    NASA's Mars Exploration Rover Spirit acquired this mosaic on the mission's 1,202nd Martian day, or sol (May 21, 2007), while investigating the area east of the elevated plateau known as 'Home Plate' in the 'Columbia Hills.' The mosaic shows an area of disturbed soil, nicknamed 'Gertrude Weise' by scientists, made by Spirit's stuck right front wheel. The trench exposed a patch of nearly pure silica, with the composition of opal. It could have come from either a hot-spring environment or an environment called a fumarole, in which acidic, volcanic steam rises through cracks. Either way, its formation involved water, and on Earth, both of these types of settings teem with microbial life. The image is presented here in false color that is used to bring out subtle differences in color.

  18. Rover's Wheel Churns Up Bright Martian Soil (Stereo)

    Science.gov (United States)

    2009-01-01

    NASA's Mars Exploration Rover Spirit acquired this mosaic on the mission's 1,202nd Martian day, or sol (May 21, 2007), while investigating the area east of the elevated plateau known as 'Home Plate' in the 'Columbia Hills.' The mosaic shows an area of disturbed soil, nicknamed 'Gertrude Weise' by scientists, made by Spirit's stuck right front wheel. The trench exposed a patch of nearly pure silica, with the composition of opal. It could have come from either a hot-spring environment or an environment called a fumarole, in which acidic, volcanic steam rises through cracks. Either way, its formation involved water, and on Earth, both of these types of settings teem with microbial life. Multiple images taken with Spirit's panoramic camera are combined here into a stereo view that appears three-dimensional when seen through red-blue glasses, with the red lens on the left.

  19. Rover's Wheel Churns Up Bright Martian Soil (Vertical)

    Science.gov (United States)

    2009-01-01

    NASA's Mars Exploration Rover Spirit acquired this mosaic on the mission's 1,202nd Martian day, or sol (May 21, 2007), while investigating the area east of the elevated plateau known as 'Home Plate' in the 'Columbia Hills.' The mosaic shows an area of disturbed soil, nicknamed 'Gertrude Weise' by scientists, made by Spirit's stuck right front wheel. The trench exposed a patch of nearly pure silica, with the composition of opal. It could have come from either a hot-spring environment or an environment called a fumarole, in which acidic, volcanic steam rises through cracks. Either way, its formation involved water, and on Earth, both of these types of settings teem with microbial life. The image is presented here as a vertical projection, as if looking straight down, and in false color, which brings out subtle color differences.

  20. 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.

  1. The analysis of the accuracy of the wheel alignment inspection method on the side-slip plate stand

    Science.gov (United States)

    Gajek, A.; Strzępek, P.

    2016-09-01

    The article presents the theoretical basis and the results of the examination of the wheel alignment inspection method on the slide slip plate stand. It is obligatory test during periodic technical inspection of the vehicle. The measurement is executed in the dynamic conditions. The dependence between the lateral displacement of the plate and toe-in of the tested wheels has been shown. If the diameter of the wheel rim is known then the value of the toe-in can be calculated. The comparison of the toe-in measurements on the plate stand and on the four heads device for the wheel alignment inspection has been carried out. The accuracy of the measurements and the influence of the conditions of the tests on the plate stand (the way of passing through the plate) were estimated. The conclusions about the accuracy of this method are presented.

  2. Vision-based vehicle detection and tracking algorithm design

    Science.gov (United States)

    Hwang, Junyeon; Huh, Kunsoo; Lee, Donghwi

    2009-12-01

    The vision-based vehicle detection in front of an ego-vehicle is regarded as promising for driver assistance as well as for autonomous vehicle guidance. The feasibility of vehicle detection in a passenger car requires accurate and robust sensing performance. A multivehicle detection system based on stereo vision has been developed for better accuracy and robustness. This system utilizes morphological filter, feature detector, template matching, and epipolar constraint techniques in order to detect the corresponding pairs of vehicles. After the initial detection, the system executes the tracking algorithm for the vehicles. The proposed system can detect front vehicles such as the leading vehicle and side-lane vehicles. The position parameters of the vehicles located in front are obtained based on the detection information. The proposed vehicle detection system is implemented on a passenger car, and its performance is verified experimentally.

  3. Influence of wheel size on muscle activity and tri-axial accelerations during cross-country mountain biking.

    Science.gov (United States)

    Hurst, Howard Thomas; Sinclair, Jonathan; Atkins, Stephen; Rylands, Lee; Metcalfe, John

    2017-07-01

    This study aimed to investigate the influence of different mountain bike wheel diameters on muscle activity and whether larger diameter wheels attenuate muscle vibrations during cross-country riding. Nine male competitive mountain bikers (age 34.7 ± 10.7 years; stature 177.7 ± 5.6 cm; body mass 73.2 ± 8.6 kg) participated in the study. Riders performed one lap at race pace on 26, 27.5 and 29 inch wheeled mountain bikes. sEMG and acceleration (RMS) were recorded for the full lap and during ascent and descent phases at the gastrocnemius, vastus lateralis, biceps brachii and triceps brachii. No significant main effects were found by wheel size for each of the four muscle groups for sEMG or acceleration during the full lap and for ascent and descent (P > .05). When data were analysed between muscle groups, significant differences were found between biceps brachii and triceps brachii (P biking. However, more activity was observed in the biceps brachii during 26 inch wheel descending. This is possibly due to an increased need to manoeuvre the front wheel over obstacles.

  4. Desenvolvimento de metodologia para previsão do fenômeno de vibrações decorrentes da interferência entre eixos de um trator com tração dianteira auxiliar (TDA Development of methodology to predict power hop of the axle interference of a front wheel assist tractor (FWA

    Directory of Open Access Journals (Sweden)

    José Fernando Schlosser

    2001-12-01

    Full Text Available Foi desenvolvido um ensaio de campo com o objetivo de avaliar as condições da ocorrência do fenômeno do "galope" do trator, que consiste em vibrações de baixa freqüência e grande amplitude. Este fenômeno físico é muito comum nos tratores de tração integral, principalmente nos que possuem pneus de diferentes diâmetros no eixo dianteiro e traseiro. Para provocar o "galope", determinaram-se diferentes condições de distribuição de peso, pressão interna dos pneus e da magnitude da carga na barra de tração. Ao final dos ensaios, determinaram-se as condições de ocorrência do fenômeno por meio de uma metodologia bastante simples em função dos raios dos pneus. O método utilizado para a determinação das condições de ocorrência do galope foi plenamente satisfatório, pois pôde prever com bastante precisão as condições em que iria ocorrer o fenômeno.A field experiment was carried out to evaluate the conditions for the appeareance of the power hope phenomenon. It consists in low frequency vibrations and great amplitude. This physical phenomenon is very common in FWA tractors, mainly with unequal tires diameter in front and rear axle. To promote power hope, different weight distribution conditions, different tire pressure and different drawbar force were used. Power hope occurence conditions were determined using simple methodology, which uses tire radio in the calculations.

  5. Advanced emergency braking under split friction conditions and the influence of a destabilising steering wheel torque

    Science.gov (United States)

    Tagesson, Kristoffer; Cole, David

    2017-07-01

    The steering system in most heavy trucks is such that it causes a destabilising steering wheel torque when braking on split friction, that is, different friction levels on the two sides of the vehicle. Moreover, advanced emergency braking systems are now mandatory in most heavy trucks, making vehicle-induced split friction braking possible. This imposes higher demands on understanding how the destabilising steering wheel torque affects the driver, which is the focus here. Firstly, an experiment has been carried out involving 24 subjects all driving a truck where automatic split friction braking was emulated. Secondly, an existing driver-vehicle model has been adapted and implemented to improve understanding of the observed outcome. A common conclusion drawn, after analysing results, is that the destabilising steering wheel torque only has a small effect on the motion of the vehicle. The underlying reason is a relatively slow ramp up of the disturbance in comparison to the observed cognitive delay amongst subjects; also the magnitude is low and initially suppressed by passive driver properties.

  6. The response of a high-speed train wheel to a harmonic wheel-rail force

    International Nuclear Information System (INIS)

    Sheng, Xiaozhen; Liu, Yuxia; Zhou, Xin

    2016-01-01

    The maximum speed of China's high-speed trains currently is 300km/h and expected to increase to 350-400km/h. As a wheel travels along the rail at such a high speed, it is subject to a force rotating at the same speed along its periphery. This fast moving force contains not only the axle load component, but also many components of high frequencies generated from wheel-rail interactions. Rotation of the wheel also introduces centrifugal and gyroscopic effects. How the wheel responds is fundamental to many issues, including wheel-rail contact, traction, wear and noise. In this paper, by making use of its axial symmetry, a special finite element scheme is developed for responses of a train wheel subject to a vertical and harmonic wheel-rail force. This FE scheme only requires a 2D mesh over a cross-section containing the wheel axis but includes all the effects induced by wheel rotation. Nodal displacements, as a periodic function of the cross-section angle 6, can be decomposed, using Fourier series, into a number of components at different circumferential orders. The derived FE equation is solved for each circumferential order. The sum of responses at all circumferential orders gives the actual response of the wheel. (paper)

  7. About the influence of wheel slide protection devices action on longitudinal dynamic of trains

    Directory of Open Access Journals (Sweden)

    Cruceanu Cătălin

    2017-01-01

    Full Text Available Wheel slide protection devices (WSPD are destined to avoid important sliding of wheels during braking actions in case of temporarily impaired wheel-rail adhesion by correspondent reductions of air pressure in brake cylinders. Accordingly, longer braking distances and higher longitudinal in-train forces occur, potentially affecting the traffic safety and the passengers comfort. A general analyse and evaluation of these effects are the main targets of the present study. The theoretical considerations are sustained by simulations of braking process, considering situations of normal, respectively diminished wheel-rail adhesion determining random actuations of WSPD. The air pressure evolution in brake cylinders of was experimentally determined on a computerized brake system test stand and adequately used as input in simulations. The results indicate an increase of in-train forces and a more complex evolution of the longitudinal dynamic actions between the vehicles in the case of degraded wheel-rail adhesion, when the random actuation of WSPD have major influence in the whole braking process.

  8. A Four-Wheel-Rhombus-Arranged Mobility System for a New Lunar Robotic Rover

    Directory of Open Access Journals (Sweden)

    Guilin Wen

    2013-10-01

    Full Text Available Different from traditional ground vehicles, planetary robotic rovers with limited weight and power need to travel in unfamiliar and extremely arduous environments. In this paper, a newly developed four-wheel-rhombus-arranged (FWRA mobility system is presented as a lunar robotic rover with high mobility and a low-weight structure. The mobility system integrates independent active suspensions with a passive rotary link structure. The active suspension with swing arms improves the rover's capacity to escape from a trapped environment whereas the passive rotary link structure guarantees continuous contact between the four wheels and the terrain. The four-wheel-three-axis rhombus configuration of the mobility system gives a high degree of lightweight structure because it has a simple mechanism with the minimum number of wheels among wheeled rovers with three-axis off-road mobility. The performance evaluation of the lightweight nature of the structure, manoeuvrability and the mobility required in a planetary exploring environment are illustrated by theoretical analysis and partly shown by experiments on the developed rover prototype.

  9. Vehicle Tire and Wheel Creation in BRL-CAD

    Science.gov (United States)

    2009-04-01

    Tire Tread Modeling 4  4.  Setting Tire Thickness 7  5.  Changing the Rim Width 9  6.  Changing the Radial Location of the... treaded or nontreaded model in the tire -model.c combination based on the analysis. 4. Setting Tire Thickness Tire thickness is manipulated via... tread is not modeled by default but can be added using options. • Fine-grained control of parameters such as tire thickness is available with

  10. Automation of Armored Four Wheel Counter Steer Vehicles

    Science.gov (United States)

    2015-08-28

    additions to the cabin, such as displays, servos , and controls, require a small footprint and cannot impede critical systems (e.g., fire control) or...autopilot. The steering system engages until the man- ual/emergency override button is pressed . To engage the velocity control mode, the operator...engaged if the need arises. Once the error is cleared, pressing the manual override button places the system back into ready mode. FIGURE 3. The software

  11. Tactical Wheeled Vehicle Fleet Requirements. Volume 3. Appendixes

    Science.gov (United States)

    1980-10-01

    64C, in each case). (3) Annual operating mileage, by payload class ( runners , only). (a) 1/4 T 7200 mi. (b) 5/4 T 6200 mi. (c) 2-1/2 T 3200 mi. (d... runners /nonrunners in Europe. Those figures should still be used. The following figures should be used for CONUS: 0) 1/4 T (2) 5/4 T (3) 2-1/2 T (4...0 a» * 4« M » Ml 00 a* MM «*« «• 0M • * *« «0 » kite MM • • 00 00 aa «0

  12. Minisatellite Attitude Guidance Using Reaction Wheels

    Directory of Open Access Journals (Sweden)

    Ion STROE

    2015-06-01

    Full Text Available In a previous paper [2], the active torques needed for the minisatellite attitude guidance from one fixed attitude posture to another fixed attitude posture were determined using an inverse dynamics method. But when considering reaction/momentum wheels, instead of this active torques computation, the purpose is to compute the angular velocities of the three reaction wheels which ensure the minisatellite to rotate from the initial to the final attitude. This paper presents this computation of reaction wheels angular velocities using a similar inverse dynamics method based on inverting Euler’s equations of motion for a rigid body with one fixed point, written in the framework of the x-y-z sequence of rotations parameterization. For the particular case A=B not equal C of an axisymmetric minisatellite, the two computations are compared: the active torques computation versus the computation of reaction wheels angular velocities ̇x , ̇y and ̇z. An interesting observation comes out from this numerical study: if the three reaction wheels are identical (with Iw the moment of inertia of one reaction wheel with respect to its central axis, then the evolutions in time of the products between Iw and the derivatives of the reaction wheels angular velocities, i.e. ̇ , ̇ and ̇ remain the same and do not depend on the moment of inertia Iw.

  13. Tyre effective radius and vehicle velocity estimation: a variable structure observer solution

    International Nuclear Information System (INIS)

    El Tannoury, C.; Plestan, F.; Moussaoui, S.; ROMANi, N. RENAULT

    2011-01-01

    This paper proposes an application of a variable structure observer for wheel effective radius and velocity of automotive vehicles. This observer is based on high order sliding approach allowing robustness and finite time convergence. Its originality consists in assuming a nonlinear relation between the slip ratio and the friction coefficient and providing an estimation of both variables, wheel radius and vehicle velocity, from measurement of wheel angular velocity and torque. These signals being available on major modern vehicle CAN (Controller Area Network) buses, this system does not require additional sensors. A simulation example is given to illustrate the relevance of this approach.

  14. Development and validation of a new kind of coupling element for wheel-hub motors

    Science.gov (United States)

    Perekopskiy, Sergey; Kasper, Roland

    2018-05-01

    For the automotive industry, electric powered vehicles are becoming an increasingly relevant factor in the competition against climate change. Application of one special example - a wheel-hub motor, for electric powered vehicle can support this challenge. Patented slotless air gap winding invented at the chair of mechatronics of the Otto von Guericke University Magdeburg has great application potential in constantly growing e-mobility field, especially for wheel-hub motors based on this technology due to its advantages, such as a high gravimetric power density and high efficiency. However, advantages of this technology are decreased by its sensibility to the loads out of driving maneuvers by dimensional variations of air gap consistency. This article describes the development and validation of a coupling element for the designed wheel-hub motor. To find a suitable coupling concept first the assembly structure of the motor was analyzed and developed design of the coupling element was checked. Based on the geometry of the motor and wheel a detailed design of the coupling element was generated. The analytical approach for coupling element describes a potential of the possible loads on the coupling element. The FEM simulation of critical load cases for the coupling element validated results of the analytical approach.

  15. The inertial effect of acceleration fields on a self-decoupled wheel force transducer

    Directory of Open Access Journals (Sweden)

    Lihang Feng

    Full Text Available AbstractWheel force transducer (WFT is a tool which can measure the three-axis forces and three-axis torques applied to the wheel in vehicle testing applications. However, the transducer is generally mounted on the wheel of a moving vehicle, when abruptly accelerating or braking, the mass/inertia of the transducer itself has extra effects on the sensor response so that inertia/mass loads will be detected and coupled into the signal outputs. This is the inertia coupling effect that decreases the sensor accuracy and should be avoided. In this paper, the inertia coupling problem induced by six dimensional accelerations is investigated for a universal WFT. Inertia load distribution of the WFT is solved based on the principle of equivalent mass and rotary inertia firstly, thus then its impact can be identified with the theoretical derivation. FEM simulation and experimental verification are performed as well. Results show that strains in simulation agree well with the theoretical derivation. The relationship between the applied acceleration and inertia load for both wheel force and moment is the approximate linear respectively. The relative errors are acceptable within less than 5% and the maximum impact of inertia loads on the signal output is about 1.5% in the measuring range.

  16. A rotating target wheel system for gammasphere

    International Nuclear Information System (INIS)

    Greene, J. P.

    1999-01-01

    A description is given for a low-mass, rotating target wheel to be used within the Gammasphere target chamber. This system was developed for experiments employing high beam currents in order to extend lifetimes of targets using low-melting point target material. The design is based on a previously successful implementation of rotating target wheels for the Argonne Positron Experiment (APEX) as well as the Fragment Mass Analyser (FMA) at ATLAS (Argonne Tandem Linac Accelerator System). A brief history of these rotating target wheel systems is given as well as a discussion on target preparation and performance

  17. Why Animals Run on Legs, Not on Wheels.

    Science.gov (United States)

    Diamond, Jared

    1983-01-01

    Speculates why animals have not developed wheels in place of inefficient legs. One study cited suggests three reasons why animals are better off without wheels: wheels are efficient only on hard surfaces, limitation of wheeled motion due to vertical obstructions, and the problem of turning in spaces cluttered with obstacles. (JN)

  18. Wheel set run profile renewing method effectiveness estimation

    OpenAIRE

    Somov, Dmitrij; Bazaras, Žilvinas; Žukauskaite, Orinta

    2010-01-01

    At all the repair enterprises, despite decreased rim wear-off resistance, after every grinding only geometry wheel profile parameters are renewed. Exploit wheel rim work edge decrease tendency is noticed what induces acquiring new wheels. This is related to considerable axle load and train speed increase and also because of wheel work edge repair method imperfection.

  19. 49 CFR 230.113 - Wheels and tire defects.

    Science.gov (United States)

    2010-10-01

    ... tires may not have a seam running lengthwise that is within 33/4 inches of the flange. (g) Worn flanges... 49 Transportation 4 2010-10-01 2010-10-01 false Wheels and tire defects. 230.113 Section 230.113... Tenders Wheels and Tires § 230.113 Wheels and tire defects. Steam locomotive and tender wheels or tires...

  20. Ride comfort optimization of a multi-axle heavy motorized wheel dump truck based on virtual and real prototype experiment integrated Kriging model

    Directory of Open Access Journals (Sweden)

    Bian Gong

    2015-06-01

    Full Text Available The optimization of hydro-pneumatic suspension parameters of a multi-axle heavy motorized wheel dump truck is carried out based on virtual and real prototype experiment integrated Kriging model in this article. The root mean square of vertical vibration acceleration, in the center of sprung mass, is assigned as the optimization objective. The constraints are the natural frequency, the working stroke, and the dynamic load of wheels. The suspension structure for the truck is the adjustable hydro-pneumatic suspension with ideal vehicle nonlinear characteristics, integrated with elastic and damping elements. Also, the hydraulic systems of two adjacent hydro-pneumatic suspension are interconnected. Considering the high complexity of the engineering model, a novel kind of meta-model called virtual and real prototype experiment integrated Kriging is proposed in this article. The interpolation principle and the construction of virtual and real prototype experiment integrated Kriging model were elucidated. Being different from traditional Kriging, virtual and real prototype experiment integrated Kriging combines the respective advantages of actual test and Computer Aided Engineering simulation. Based on the virtual and real prototype experiment integrated Kriging model, the optimization results, obtained by experimental verification, showed significant improvement in the ride comfort by 12.48% for front suspension and 11.79% for rear suspension. Compared with traditional Kriging, the optimization effect was improved by 3.05% and 3.38% respectively. Virtual and real prototype experiment integrated Kriging provides an effective way to approach the optimal solution for the optimization of high-complexity engineering problems.

  1. Autonomous vehicle navigation utilizing fuzzy controls concepts for a next generation wheelchair.

    Science.gov (United States)

    Hansen, J D; Barrett, S F; Wright, C H G; Wilcox, M

    2008-01-01

    Three different positioning techniques were investigated to create an autonomous vehicle that could accurately navigate towards a goal: Global Positioning System (GPS), compass dead reckoning, and Ackerman steering. Each technique utilized a fuzzy logic controller that maneuvered a four-wheel car towards a target. The reliability and the accuracy of the navigation methods were investigated by modeling the algorithms in software and implementing them in hardware. To implement the techniques in hardware, positioning sensors were interfaced to a remote control car and a microprocessor. The microprocessor utilized the sensor measurements to orient the car with respect to the target. Next, a fuzzy logic control algorithm adjusted the front wheel steering angle to minimize the difference between the heading and bearing. After minimizing the heading error, the car maintained a straight steering angle along its path to the final destination. The results of this research can be used to develop applications that require precise navigation. The design techniques can also be implemented on alternate platforms such as a wheelchair to assist with autonomous navigation.

  2. Dynamics of curved fronts

    CERN Document Server

    Pelce, Pierre

    1989-01-01

    In recent years, much progress has been made in the understanding of interface dynamics of various systems: hydrodynamics, crystal growth, chemical reactions, and combustion. Dynamics of Curved Fronts is an important contribution to this field and will be an indispensable reference work for researchers and graduate students in physics, applied mathematics, and chemical engineering. The book consist of a 100 page introduction by the editor and 33 seminal articles from various disciplines.

  3. Reinventing the wheel: comparison of two wheel cage styles for assessing mouse voluntary running activity.

    Science.gov (United States)

    Seward, T; Harfmann, B D; Esser, K A; Schroder, E A

    2018-04-01

    Voluntary wheel cage assessment of mouse activity is commonly employed in exercise and behavioral research. Currently, no standardization for wheel cages exists resulting in an inability to compare results among data from different laboratories. The purpose of this study was to determine whether the distance run or average speed data differ depending on the use of two commonly used commercially available wheel cage systems. Two different wheel cages with structurally similar but functionally different wheels (electromechanical switch vs. magnetic switch) were compared side-by-side to measure wheel running data differences. Other variables, including enrichment and cage location, were also tested to assess potential impacts on the running wheel data. We found that cages with the electromechanical switch had greater inherent wheel resistance and consistently led to greater running distance per day and higher average running speed. Mice rapidly, within 1-2 days, adapted their running behavior to the type of experimental switch used, suggesting these running differences are more behavioral than due to intrinsic musculoskeletal, cardiovascular, or metabolic limits. The presence of enrichment or location of the cage had no detectable impact on voluntary wheel running. These results demonstrate that mice run differing amounts depending on the type of cage and switch mechanism used and thus investigators need to report wheel cage type/wheel resistance and use caution when interpreting distance/speed run across studies. NEW & NOTEWORTHY The results of this study highlight that mice will run different distances per day and average speed based on the inherent resistance present in the switch mechanism used to record data. Rapid changes in running behavior for the same mouse in the different cages demonstrate that a strong behavioral factor contributes to classic exercise outcomes in mice. Caution needs to be taken when interpreting mouse voluntary wheel running activity to

  4. Radiative thermal conduction fronts

    International Nuclear Information System (INIS)

    Borkowski, K.J.; Balbus, S.A.; Fristrom, C.C.

    1990-01-01

    The discovery of the O VI interstellar absorption lines in our Galaxy by the Copernicus observatory was a turning point in our understanding of the Interstellar Medium (ISM). It implied the presence of widespread hot (approx. 10 to the 6th power K) gas in disk galaxies. The detection of highly ionized species in quasi-stellar objects' absorption spectra may be the first indirect observation of this hot phase in external disk galaxies. Previous efforts to understand extensive O VI absorption line data from our Galaxy were not very successful in locating the regions where this absorption originates. The location at interfaces between evaporating ISM clouds and hot gas was favored, but recent studies of steady-state conduction fronts in spherical clouds by Ballet, Arnaud, and Rothenflug (1986) and Bohringer and Hartquist (1987) rejected evaporative fronts as the absorption sites. Researchers report here on time-dependent nonequilibrium calculations of planar conductive fronts whose properties match well with observations, and suggest reasons for the difference between the researchers' results and the above. They included magnetic fields in additional models, not reported here, and the conclusions are not affected by their presence

  5. Circadian rhythm disruption by a novel running wheel: Roles of exercise and arousal in blockade of the luteinizing hormone surge

    Science.gov (United States)

    Duncan, Marilyn J.; Franklin, Kathleen M.; Peng, Xiaoli; Yun, Christopher; Legan, Sandra J.

    2014-01-01

    Exposure of proestrous Syrian hamsters to a new room, cage, and novel running wheel blocks the luteinizing hormone (LH) surge until the next day in ~75% of hamsters (Legan et al, 2010) [1]. The studies described here tested the hypotheses that 1) exercise and/or 2) orexinergic neurotransmission mediate novel wheel blockade of the LH surge and circadian phase advances. Female hamsters were exposed to a 14L:10D photoperiod and activity rhythms were monitored with infra-red detectors. In Expt. 1, to test the effect of exercise, hamsters received jugular cannulae and on the next day, proestrus (Day 1), shortly before zeitgeber time 5 (ZT 5, 7 hours before lights-off) the hamsters were transported to the laboratory. After obtaining a blood sample at ZT 5, the hamsters were transferred to a new cage with a novel wheel that was either freely rotating (unlocked), or locked until ZT 9, and exposed to constant darkness (DD). Blood samples were collected hourly for 2 days from ZT 5–11 under red light for determination of plasma LH levels by radioimmunoassay. Running rhythms were monitored continuously for the next 10–14 days. The locked wheels were as effective as unlocked wheels in blocking LH surges (no Day 1 LH surge in 6/9 versus 8/8 hamsters, P>0.05) and phase advances in the activity rhythms did not differ between the groups (P= 0.28), suggesting that intense exercise is not essential for novel wheel blockade and phase advance of the proestrous LH surge. Expt. 2 tested whether orexin neurotransmission is essential for these effects. Hamsters were treated the same as in Expt. 1 except they were injected (i.p.) at ZT 4.5 and 5 with either the orexin 1 receptor antagonist SB334867 (15 mg/kg per injection) or vehicle (25% DMSO in 2-hydroxypropyl-beta-cyclodextrin (HCD). SB-334867 inhibited novel wheel blockade of the LH surge (surges blocked in 2/6 SB334867-injected animals versus 16/18 vehicle-injected animals, Pwheel running and circadian phase shifts, indicating that

  6. The Influence of Wheel/Rail Contact Conditions on the Microstructure and Hardness of Railway Wheels

    Directory of Open Access Journals (Sweden)

    Paul Molyneux-Berry

    2014-01-01

    Full Text Available The susceptibility of railway wheels to wear and rolling contact fatigue damage is influenced by the properties of the wheel material. These are influenced by the steel composition, wheel manufacturing process, and thermal and mechanical loading during operation. The in-service properties therefore vary with depth below the surface and with position across the wheel tread. This paper discusses the stress history at the wheel/rail contact (derived from dynamic simulations and observed variations in hardness and microstructure. It is shown that the hardness of an “in-service” wheel rim varies significantly, with three distinct effects. The underlying hardness trend with depth can be related to microstructural changes during manufacturing (proeutectoid ferrite fraction and pearlite lamellae spacing. The near-surface layer exhibits plastic flow and microstructural shear, especially in regions which experience high tangential forces when curving, with consequentially higher hardness values. Between 1 mm and 7 mm depth, the wheel/rail contacts cause stresses exceeding the material yield stress, leading to work hardening, without a macroscopic change in microstructure. These changes in material properties through the depth of the wheel rim would tend to increase the likelihood of crack initiation on wheels toward the end of their life. This correlates with observations from several train fleets.

  7. Preliminary experimental evaluation of a four wheel motors, batteries plus ultracapacitors and series hybrid powertrain

    Energy Technology Data Exchange (ETDEWEB)

    Rambaldi, Lorenzo [Interuniversity Research Center on Sustainable Development, Sapienza University of Rome, Rome (Italy); Bocci, Enrico [Department of Mechanics and Aeronautics, Sapienza University of Rome, Rome (Italy); Orecchini, Fabio [Guglielmo Marconi University, Rome (Italy)

    2011-02-15

    This paper reports the preliminary experimental evaluation of a four wheel motors series hybrid prototype equipped with an internal combustion engine coupled to a generator and an energy recovery system (batteries plus ultracapacitors). The paper analyses global efficiency (energy dissipated to overcome the dissipative forces on energy dissipated in fuel), autonomy in electric configuration, and the efficiency of the regenerative braking system. The tests were carried out in a test cell equipped with a chassis dynamometer. The tests were performed according to the current regulated procedures. A constant speed test was performed in order to evaluate the autonomy of the vehicle in the electric configuration. The results show that the real tank to wheels efficiency is about 30% for HOST as a series hybrid and 79% for HOST as an electric vehicle. (author)

  8. 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.

  9. INFLUENCE OF USUAL AND DUAL WHEELS ON SOIL PENETRATION RESISTANCE: THE GIS-APPROACH

    Directory of Open Access Journals (Sweden)

    Zhukov A. V.

    2015-12-01

    Full Text Available GIS-APPROACH application has allowed establishing that usual wheels of machine-tractor units carry out considerable influence on soil which exceeds visible borders of a track of wheels on the dimensions. This influence shows in augmentation of soil penetration resistance at 100-155 % in comparison with the control on depth of 0-10 cm and on 20-30 % on depth of 45-50 %. It is impossible to exclude that influence of wheels proceeds more deeply, than tests have been conducted. Critical for cultivated plants value of soil penetration resistance in 3 MPa under the influence of usual wheels of agricultural machinery comes nearer practically to a surface. Character of profile changes of hardness in various regions influences of wheels allows assuming the long season of a relaxation of soil for achievement of background values of soil penetration resistance. The further researches are necessary for an establishment of concrete indicators of dynamics. Negative influence of an overstocking does not confine only deterioration of conditions of growth of assemblages of rootlets of plants. Infringement of processes of moving of moisture in the soil, the accelerated evaporation and the slowed down processes of a filtration and an infiltration, destruction of modular frame, activization of erosive processes is possible. The understanding of these processes will give the chance volume understanding of real influence of running systems of machine-tractor devices on bedrock. Region intensive influence of dual wheels is circumscribed by the top soil layers (0-15 cm. The major feature of influence of dual wheels is absence of an overstocking above critical levels. It is impossible to exclude possible positive influence of moderate inspissations of soil under the influence of dual wheels for growth of agricultural crops and moisture conservation in soil. The cumulative negative effect on soil crossed vehicles traces is probable. The long season of a relaxation of

  10. An Ultrasonic Wheel-Array Probe

    Science.gov (United States)

    Drinkwater, B. W.; Brotherhood, C. J.; Freemantle, R. J.

    2004-02-01

    This paper describes the development and modeling of an ultrasonic array wheel probe scanning system. The system operates at 10 MHz using a 64 element array transducer which is 50 mm in length and located in a fluid filled wheel. The wheel is coupled to the test structure dry, or with a small amount of liquid couplant. When the wheel is rolled over the surface of the test structure a defect map (C-Scan) is generated in real-time. The tyre is made from a soft, durable polymer which has very little acoustic loss. Two application studies are presented; the inspection of sealant layers in an aluminum aircraft wing structure and the detection of embedded defects in a thick section carbon composite sample.

  11. Multiple Wheel Throwing: And Chess Sets.

    Science.gov (United States)

    Sapiro, Maurice

    1978-01-01

    A chess set project is suggested to teach multiple throwing, the creation on a potter's wheel of several pieces of similar configuration. Processes and finished sets are illustrated with photographs. (SJL)

  12. UT Biomedical Informatics Lab (BMIL) probability wheel

    Science.gov (United States)

    Huang, Sheng-Cheng; Lee, Sara; Wang, Allen; Cantor, Scott B.; Sun, Clement; Fan, Kaili; Reece, Gregory P.; Kim, Min Soon; Markey, Mia K.

    A probability wheel app is intended to facilitate communication between two people, an "investigator" and a "participant", about uncertainties inherent in decision-making. Traditionally, a probability wheel is a mechanical prop with two colored slices. A user adjusts the sizes of the slices to indicate the relative value of the probabilities assigned to them. A probability wheel can improve the adjustment process and attenuate the effect of anchoring bias when it is used to estimate or communicate probabilities of outcomes. The goal of this work was to develop a mobile application of the probability wheel that is portable, easily available, and more versatile. We provide a motivating example from medical decision-making, but the tool is widely applicable for researchers in the decision sciences.

  13. ANALYSIS OF FORMING TREAD WHEEL SETS

    Directory of Open Access Journals (Sweden)

    Igor IVANOV

    2017-09-01

    Full Text Available This paper shows the results of a theoretical study of profile high-speed grinding (PHSG for forming tread wheel sets during repair instead of turning and mold-milling. Significant disadvantages of these methods are low capacity to adapt to the tool and inhomogeneous structure of the wheel material. This leads to understated treatment regimens and difficulties in recovering wheel sets with thermal and mechanical defects. This study carried out modeling and analysis of emerging cutting forces. Proposed algorithms describe the random occurrence of the components of the cutting forces in the restoration profile of wheel sets with an inhomogeneous structure of the material. To identify the statistical features of randomly generated structures fractal dimension and the method of random additions were used. The multifractal spectrum formed is decomposed into monofractals by wavelet transform. The proposed method allows you to create the preconditions for controlling the parameters of the treatment process.

  14. Electrostatic Spectrometer for Mars Rover Wheel

    Data.gov (United States)

    National Aeronautics and Space Administration — Develop a simple electrostatic spectrometer that can be mounted on the wheels of a Mars rover to continuously and unobtrusively determine the mineral composition and...

  15. Benefits of magnesium wheels for consumer cars

    Science.gov (United States)

    Frishfelds, Vilnis; Timuhins, Andrejs; Bethers, Uldis

    2018-05-01

    Advantages and disadvantages of magnesium wheels are considered based on a mechanical model of a car. Magnesium wheels are usually applied to racing cars as they provide slightly better strength/weight ratio than aluminum alloys. Do they provide notable benefits also for the everyday user when the car speeds do not exceed allowed speed limit? Distinct properties of magnesium rims are discussed. Apart from lighter weight of magnesium alloys, they are also good in dissipating the energy of vibrations. The role of energy dissipation in the rim of a wheel is estimated by a quarter car model. Improvements to safety by using the magnesium wheels are considered. Braking distance and responsiveness of the car is studied both with and without using an Anti Blocking System (ABS). Influence of rim weight on various handling parameters of the car is quantitatively tested.

  16. 46 CFR 185.340 - Vessels carrying vehicles.

    Science.gov (United States)

    2010-10-01

    ... and away from the vehicles freely in the event of fire or other disaster. The decks, where necessary... motors turned off and their emergency brakes set when the vessel is underway, and that the motors are not... vehicles or next to a loading ramp must have its wheels securely blocked, while the vessel is being...

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

    Directory of Open Access Journals (Sweden)

    Diego A. Aligia

    2017-12-01

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

  18. A Nontoxic Barlow's Wheel

    Science.gov (United States)

    Daffron, John A.; Greenslade, Thomas B., Jr.

    2015-01-01

    Barlow's wheel has been a favorite demonstration since its invention by Peter Barlow (1776-1862) in 1822. In the form shown in Fig. 1, it represents the first electric motor. The interaction between the electric current passing from the axle of the wheel to the rim and the magnetic field produced by the U-magnet produces a torque that turns…

  19. 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.

  20. 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 ...

  1. 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.

  2. Unusual contact marks: connecting the hubcap to the wheel of the car.

    Science.gov (United States)

    Novoselsky, Yehuda; Tsach, Tsadok; Klein, Asne; Volkov, Nikolay; Shor, Yaron; Vinokurov, Asya

    2002-05-01

    A case of homicide and attempted homicide is described. The comparison of tire-marks linked the suspect's vehicle to the scene of crime only with low certainty. However, the comparison of the pressure mark on the hubcap found at the scene, with the balance weight on one of the wheels of the suspect's car, connected the suspect to the scene of crime with high certainty.

  3. Vehicle Test Facilities at Aberdeen Proving Ground

    Science.gov (United States)

    1981-07-06

    warehouse and rough terrain forklifts. Two 5-ton-capacity manual chain hoists at the rear of the table regulate its slope from 0 to 40 percent. The overall...Capacity at 24-Inch Load Center. 5. TOP/ HTP 2-2-608, Braking, Wheeled Vehicles, 15 Jav.&ry 1971. 6. TOP 2-2-603, Vehicle Fuel Consumption, 1 November 1977. A-1 r -. ’,’

  4. THE PROCESS OF FORMATION OF RAILWAY WHEEL DAMAGES AND TIRES IN OPERATION

    Directory of Open Access Journals (Sweden)

    N. A. Grischenko

    2015-01-01

    Full Text Available Purpose. The dependence analysis of structural changes in the metal of railway wheels and tires from indicated influences in operation, for the further development of strategy of service reliability growth. Methodology. Test materials are the details selected from railway wheels which were taken out of operation beforehand because of various damages. Micro-structural researches were made with the use of light microscope Epiquant and electron microscope. The sizing of structural elements was done by using the methods of quantitative metallography. Findings. Over the past few decades the rapid development of industry was supported by the steady growth of intensity of using railway transport. In this case simultaneous increase of load at wheel set axle, with the increase of speed was accompanied by natural increase of the amount of cases of premature wheels and tires’ withdrawing out of operation. Railway wheel, except the formation of metal layer at rolling surface with the high defects concentration of crystal structure and first of all dislocations, falls under thermal influence from interaction with break blocks. The nature of joint influence (cold deformation and heating on the metal rim of a wheel is conditioned by the appearance of sufficiently high gradients of structural changes that can be considered as the influence on the level of internal residual stresses. In case of the rise of volume part of carbide phase at a constant ferrite grain size, it is achieved only by the increasing of dislocation nucleation sources without changing the number of annihilation positions. In this case the accumulation of dislocations at the initial stages of plastic deformation (in metal volume in front of delta arm crack will lead to the formation of cementite globes around certain interlocked dislocation density. In contrast the sharp increase of deformation hardening carbon steel parameters is observed. Originality. During the braking of locomotive the

  5. Mathematical model of rolling an elastic wheel over deformable support base

    Science.gov (United States)

    Volskaia, V. N.; Zhileykin, M. M.; Zakharov, A. Y.

    2018-02-01

    One of the main direction of economic growth in Russia remains to be a speedy development of north and northeast regions that are the constituents of the 60 percent of the country territory. The further development of these territories requires new methods and technologies for solving transport and technological problems when off-road transportation of cargoes and people is conducting. One of the fundamental methods of patency prediction is imitation modeling of wheeled vehicles movement in different operating conditions. Both deformable properties of tires and physical and mechanical properties of the ground: normal tire deflection and gauge depth; variation of contact patch area depending on the load and pressure of air in the tire; existence of hysteresis losses in the tire material which are influencing on the rolling resistance due to friction processes between tire and ground in the contact patch; existence of the tangential reaction from the ground by entire contact area influence on the tractive patency. Nowadays there are two main trends in theoretical research of interaction wheeled propulsion device with ground: analytical method involving mathematical description of explored process and finite element method based on computational modeling. Mathematical models of interaction tire with the ground are used both in processes of interaction individual wheeled propulsion device with ground and researches of mobile vehicle dynamical models operated in specific road and climate conditions. One of the most significant imperfection of these models is the description of interaction wheel with flat deformable support base whereas profile of real support base surface has essential height of unevenness which is commensurate with radius of the wheel. The description of processes taking place in the ground under influence of the wheeled propulsion device using the finite element method is relatively new but most applicable lately. The application of this method allows

  6. Transmissions in vehicles 2010

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2010-07-01

    Within the international VDI congress 'Gears in vehicles 2010' of the VDI Wissensforum GmbH (Duesseldorf, Federal Republic of Germany) between 22nd and 23rd June, 2010, in Friedrichshafen (Federal Republic of Germany), the following lectures were held: (1) 8HP70H - The moldhybrid transmission from ZF - Cjallenges and achievements (P. Gutmann); (2) GETRAG boosted range extender - A highly flexible electric powertrain for maximum CO{sub 2} reduction (S. Huepkes); (3) E-Transmission between full-hybrid and E-drive (P. Tenberge); (4) Reducing NO{sub x} and particulate emissions in electrified drivelines (R. Kuberczyk); (5) Simulation aided HEV and EV development: from the component to the whole powertrain (A. Gacometti); (6) Investigations on operating behaviour of the optimized CVT hybrid driveline (B.-R. Hoehn); (7) Customer-oriented dimensioning of electrified drivetrains (M. Eghtessad); (8) Decentralized optimal control strategy for parallel hybrid electric vehicles (A. Frenkel); (9) The new generation 6-speed automatic transmission AF40 (G. Bednarek); (10) Customized mechatronic solutions for integrated transmission control units (M. Wieczorek); (11) The optimal automatic transmission for front-transverse applications - Planetary transmissions or dual clutch transmissions? (G. Gumpoltsberger); (12) The new shift-by-wire gearshift lever for the Audi A8 - Requirements and concept (T. Guttenbergere); (13) The new shift-by-wire gearshift lever for the Audi A8 - Realization (A. Giefer); (14) Fuel-efficient transmissions of the future: Calculation of the efficiency factor for vehicle transmissions (B. Volpert); (15) HT-ACM: A new polymer generation for static and dynamic gearbox sealing solutions (E. Osen); (16) 'Energy efficiency equipped solutions by SKF' for power train applications - A contribution to CO{sub 2} - emission reduction and sustainability (T. Bobke); (17) 6-Ratio planetary shift transmission controlled by 4 external brakes, and design

  7. Inertia coupling analysis of a self-decoupled wheel force transducer under multi-axis acceleration fields.

    Directory of Open Access Journals (Sweden)

    Lihang Feng

    Full Text Available Wheel force transducer (WFT, which measures the three-axis forces and three-axis torques applied to the wheel, is an important instrument in the vehicle testing field and has been extremely promoted by researchers with great interests. The transducer, however, is typically mounted on the wheel of a moving vehicle, especially on a high speed car, when abruptly accelerating or braking, the mass/inertia of the transducer/wheel itself will have an extra effect on the sensor response so that the inertia/mass loads will also be detected and coupled into the signal outputs. The effect which is considered to be inertia coupling problem will decrease the sensor accuracy. In this paper, the inertia coupling of a universal WFT under multi-axis accelerations is investigated. According to the self-decoupling approach of the WFT, inertia load distribution is solved based on the principle of equivalent mass and rotary inertia, thus then inertia impact can be identified with the theoretical derivation. The verification is achieved by FEM simulation and experimental tests. Results show that strains in simulation agree well with the theoretical derivation. The relationship between the applied acceleration and inertia load for both wheel force and moment is the approximate linear, respectively. All the relative errors are less than 5% which are within acceptable and the inertia loads have the maximum impact on the signal output about 1.5% in the measurement range.

  8. Inertia coupling analysis of a self-decoupled wheel force transducer under multi-axis acceleration fields.

    Science.gov (United States)

    Feng, Lihang; Lin, Guoyu; Zhang, Weigong; Dai, Dong

    2015-01-01

    Wheel force transducer (WFT), which measures the three-axis forces and three-axis torques applied to the wheel, is an important instrument in the vehicle testing field and has been extremely promoted by researchers with great interests. The transducer, however, is typically mounted on the wheel of a moving vehicle, especially on a high speed car, when abruptly accelerating or braking, the mass/inertia of the transducer/wheel itself will have an extra effect on the sensor response so that the inertia/mass loads will also be detected and coupled into the signal outputs. The effect which is considered to be inertia coupling problem will decrease the sensor accuracy. In this paper, the inertia coupling of a universal WFT under multi-axis accelerations is investigated. According to the self-decoupling approach of the WFT, inertia load distribution is solved based on the principle of equivalent mass and rotary inertia, thus then inertia impact can be identified with the theoretical derivation. The verification is achieved by FEM simulation and experimental tests. Results show that strains in simulation agree well with the theoretical derivation. The relationship between the applied acceleration and inertia load for both wheel force and moment is the approximate linear, respectively. All the relative errors are less than 5% which are within acceptable and the inertia loads have the maximum impact on the signal output about 1.5% in the measurement range.

  9. The mathematical model for the investigation of different influence factors on the economic and ecological indicators of a wheel tractor

    Directory of Open Access Journals (Sweden)

    Zakharchuk V.I.

    2016-08-01

    Full Text Available To solve the problem of oil deficit and reduce emissions of harmful substances from exhaust gases of vehicles alternative motor fuels, including biodiesel may by used. Most of wheel tractors are used as technological transport in agriculture, industry and municipal services. The article aims to clarify the mathematical model to determine the effect of the type of fuel used wheeled tractors on its performance. The mathematical model of the system "operator-wheel tractor-road" for the design research impact type of fuel on harmful emissions and fuel consumption wheeled tractor, is used as technological transport during its movement for driving cycle. Driving cycle showed main modes of motion there are acceleration, motion with constant speed and deceleration. The mathematical model allows to accurately consider peculiarities of the wheel tractor as the vehicle and engine describing its characteristics by polinomial dependencies. In mathematical models specified polynomial dependences that describe the fuel supply cycle indicated torque, fuel consumption and concentrations of main harmful substances in the exhaust gases of diesel during operation on diesel and biodiesel.

  10. Stationary flow near fronts

    Directory of Open Access Journals (Sweden)

    Reinhold Steinacker

    2016-12-01

    Full Text Available In 1906, the Austrian scientist Max Margules published a paper on temperature stratification in resting and non-accelerated moving air. The paper derives conditions for stationary slopes of air mass boundaries and was an important forerunner of frontal theories. Its formulation of relations between changes in density and geostrophic wind across the front is basically a discrete version of the thermal wind balance equation. The paper was highly influential and is still being cited to the present day. This paper accompanies an English translation of Margules’ seminal paper. We conclude here our “Classic Papers” series of the Meteorologische Zeitschrift.

  11. Project considerations and design of systems for wheeling cogenerated power

    Energy Technology Data Exchange (ETDEWEB)

    Tessmer, R.G. Jr.; Boyle, J.R.; Fish, J.H. III; Martin, W.A.

    1994-08-01

    Wheeling electric power, the transmission of electricity not owned by an electric utility over its transmission lines, is a term not generally recognized outside the electric utility industry. Investigation of the term`s origin is intriguing. For centuries, wheel has been used to describe an entire machine, not just individual wheels within a machine. Thus we have waterwheel, spinning wheel, potter`s wheel and, for an automobile, wheels. Wheel as a verb connotes transmission or modification of forces and motion in machinery. With the advent of an understanding of electricity, use of the word wheel was extended to be transmission of electric power as well as mechanical power. Today, use of the term wheeling electric power is restricted to utility transmission of power that it doesn`t own. Cogeneration refers to simultaneous production of electric and thermal power from an energy source. This is more efficient than separate production of electricity and thermal power and, in many instances, less expensive.

  12. Impact of overweight vehicles (with heavy axle loads) on bridge deck deterioration.

    Science.gov (United States)

    2012-03-01

    Bridge deck slabs develop compressive stresses from global flexural deformation and locally from high-level : wheel loads when it is subjected to overweight trucks. This study quantified the impact of overweight vehicles : with heavy axle loads on br...

  13. 29 CFR 1918.65 - Mechanically powered vehicles used aboard vessels.

    Science.gov (United States)

    2010-07-01

    ..., brakes set and power shut off. Wheels shall be blocked or curbed if the vehicle is on an incline. (9... of mechanically powered vehicles that involve fire hazards shall be conducted only in locations... repair. (g) Parking brakes. All mechanically powered vehicles purchased after January 21, 1998, shall be...

  14. Design of Wheeled Mobile Robot with Tri-Star Wheel as Rescue Robot

    Directory of Open Access Journals (Sweden)

    Rafiuddin Syam

    2016-05-01

    Full Text Available This study aims to design, and analyze a mobilerobot that can handle some of the obstacles, they are unevensurfaces, slopes, can also climb stairs. WMR in this study is Tristarwheel that is containing three wheels for each set. Onaverage surface only two wheels in contact with the surface, ifthere is an uneven surface or obstacle then the third wheel willrotate with the rotation center of the wheel in contact with theleading obstacle then only one wheel in contact with the surface.This study uses the C language program. Furthermore, theminimum thrust to be generated torque of the motor andtransmission is 9.56 kg. The results obtained by calculation andanalysis of DC motors used must have a torque greater than14.67 kg.cm. Minimum thrust to be generated motor torque andthe transmission is 9.56 kg. The experimental results give goodresults for robot to moving forward, backward, turn left, turnright and climbing the stairs

  15. Umbrella Wheel - a stair-climbing and obstacle-handling wheel design concept

    DEFF Research Database (Denmark)

    Iversen, Simon; Jouffroy, Jerome

    2017-01-01

    This paper proposes a new design for stair-climbing using a wheel that can split into segments and walk up stairs or surmount other obstacles often found where humans traverse, while still being able to retain a perfectly round shape for traveling on smooth ground. Using this change of configurat......This paper proposes a new design for stair-climbing using a wheel that can split into segments and walk up stairs or surmount other obstacles often found where humans traverse, while still being able to retain a perfectly round shape for traveling on smooth ground. Using this change...... of configuration, staircases with a wide range of dimensions can be covered efficiently and safely. The design, named Umbrella Wheel, can consist of as many wheel segments as desired, and as few as two. A smaller or higher number of wheel segments has advantages and disadvantages depending on the specific...

  16. Assessing the influence of wheel defects of a rolling stockon railway tracks

    Directory of Open Access Journals (Sweden)

    Loktev Aleksey Alekseevich

    2015-05-01

    Full Text Available Transfer of the load from the wheels on the rail occurs at a very small area compared with the size of the wheels and rails. The materials near this site have a very large voltage. Determination of contact stresses is complicated by the fact that the magnitude of these stresses in the rails under actually revolving wheel load exceeds the yield and compressive strength of modern rail steel. We should note that the metal of the rail head, experiencing contact stresses, especially when the location of the pads is closer to the middle of the rail head, works in the conditions close to the compression conditions, and therefore can withstand higher voltage without plastic deformation than the standard compressible sample. But, as a rule, the observed hardening of the metal in the zone of contact stresses and lapping at the edges of the rail head indicates the presence of plastic deformation and, consequently, higher stresses in the wheel-rail contact zone than the yield strength of the metal rail even in the conditions of its operation in the rail head.The use of the design equations derived on the basis of the Hertz theory for metal behavior in elastic stage, is valid. The reason is that each individual dynamic application of wheel loads on the rail is very short, and the residual plastic deformation from the individual loads of the pair of wheels on the rail is actually small. This elastic-plastic deformation of the rail becomes visible as a result of gradual gaining of a missed tonnage of rails and wheels respectively. Irregularities on the running surface of the wheels are of two types. The most common are the so-called continuous bumps on the wheel, when due to the uneven wear of rail the original shape of the wheel across the tread surface distorts. But nowadays, more and more often there occur isolated smooth irregularities of the wheel pairs, due to the increased wear of the wheel because of the stopping and blocking of wheels of the vehicles

  17. Modeling thermal effects in braking systems of railway vehicles

    Directory of Open Access Journals (Sweden)

    Milošević Miloš S.

    2012-01-01

    Full Text Available The modeling of thermal effects has become increasingly important in product design in different transport means, road vehicles, airplanes, railway vehicles, and so forth. The thermal analysis is a very important stage in the study of braking systems, especially of railway vehicles, where it is necessary to brake huge masses, because the thermal load of a braked railway wheel prevails compared to other types of loads. In the braking phase, kinetic energy transforms into thermal energy resulting in intense heating and high temperature states of railway wheels. Thus induced thermal loads determine thermomechanical behavior of the structure of railway wheels. In cases of thermal overloads, which mainly occur as a result of long-term braking on down-grade railroads, the generation of stresses and deformations occurs, whose consequences are the appearance of cracks on the rim of a wheel and the final total wheel defect. The importance to precisely determine the temperature distribution caused by the transfer process of the heat generated during braking due to the friction on contact surfaces of the braking system makes it a challenging research task. Therefore, the thermal analysis of a block-braked solid railway wheel of a 444 class locomotive of the national railway operator Serbian Railways is processed in detail in this paper, using analytical and numerical modeling of thermal effects during long-term braking for maintaining a constant speed on a down-grade railroad.

  18. Reaction Wheel Disturbance Model Extraction Software - RWDMES

    Science.gov (United States)

    Blaurock, Carl

    2009-01-01

    The RWDMES is a tool for modeling the disturbances imparted on spacecraft by spinning reaction wheels. Reaction wheels are usually the largest disturbance source on a precision pointing spacecraft, and can be the dominating source of pointing error. Accurate knowledge of the disturbance environment is critical to accurate prediction of the pointing performance. In the past, it has been difficult to extract an accurate wheel disturbance model since the forcing mechanisms are difficult to model physically, and the forcing amplitudes are filtered by the dynamics of the reaction wheel. RWDMES captures the wheel-induced disturbances using a hybrid physical/empirical model that is extracted directly from measured forcing data. The empirical models capture the tonal forces that occur at harmonics of the spin rate, and the broadband forces that arise from random effects. The empirical forcing functions are filtered by a physical model of the wheel structure that includes spin-rate-dependent moments (gyroscopic terms). The resulting hybrid model creates a highly accurate prediction of wheel-induced forces. It accounts for variation in disturbance frequency, as well as the shifts in structural amplification by the whirl modes, as the spin rate changes. This software provides a point-and-click environment for producing accurate models with minimal user effort. Where conventional approaches may take weeks to produce a model of variable quality, RWDMES can create a demonstrably high accuracy model in two hours. The software consists of a graphical user interface (GUI) that enables the user to specify all analysis parameters, to evaluate analysis results and to iteratively refine the model. Underlying algorithms automatically extract disturbance harmonics, initialize and tune harmonic models, and initialize and tune broadband noise models. The component steps are described in the RWDMES user s guide and include: converting time domain data to waterfall PSDs (power spectral

  19. Life-cycle analysis of energy and greenhouse gas emissions of automotive fuels in India: Part 1 – Tank-to-Wheel analysis

    International Nuclear Information System (INIS)

    Gupta, S.; Patil, V.; Himabindu, M.; Ravikrishna, R.V.

    2016-01-01

    As part of a two-part life cycle efficiency and greenhouse gas emission analysis for various automotive fuels in the Indian context, this paper presents the first part, i.e., Tank-to-Wheel analysis of various fuel/powertrain configurations for a subcompact passenger car. The Tank-to-Wheel analysis was applied to 28 fuel/powertrain configurations using fuels such as gasoline, diesel, compressed natural gas, liquefied petroleum gas and hydrogen with various conventional and hybrid electric powertrains. The gasoline-equivalent fuel economy and carbon dioxide emission results for individual fuel/powertrain configuration are evaluated and compared. It is found that the split hybrid configuration is best among hybrids as it leads to fuel economy improvement and carbon dioxide emissions reduction by 20–40% over the Indian drive cycle. Further, the engine efficiency, engine on-off time and regenerative braking energy assessment is done to evaluate the causes for higher energy efficiency of hybrid electric vehicles. The hybridization increases average engine efficiency by 10–60% which includes 19–23% of energy recovered at wheel through regenerative braking over the drive cycle. Overall, the Tank-to-Wheel energy use and efficiency results are evaluated for all fuel/powertrain configurations which show Battery Electric Vehicle, fuel cell vehicles and diesel hybrids are near and long term energy efficient vehicle configurations. - Highlights: • Tank-to-Wheel energy use & CO_2 emissions for subcompact car on Indian driving cycle. • Gasoline, diesel, CNG, LPG, hydrogen and electric vehicles are evaluated in this study. • First comprehensive Tank-to-Wheel analysis for India on small passenger car platform. • Parallel, series and split hybrid electric vehicles with various fuels are analysed.

  20. Wheeling rates evaluation using optimal power flows

    International Nuclear Information System (INIS)

    Muchayi, M.; El-Hawary, M. E.

    1998-01-01

    Wheeling is the transmission of electrical power and reactive power from a seller to a buyer through a transmission network owned by a third party. The wheeling rates are then the prices charged by the third party for the use of its network. This paper proposes and evaluates a strategy for pricing wheeling power using a pricing algorithm that in addition to the fuel cost for generation incorporates the optimal allocation of the transmission system operating cost, based on time-of-use pricing. The algorithm is implemented for the IEEE standard 14 and 30 bus system which involves solving a modified optimal power flow problem iteratively. The base of the proposed algorithm is the hourly spot price. The analysis spans a total time period of 24 hours. Unlike other algorithms that use DC models, the proposed model captures wheeling rates of both real and reactive power. Based on the evaluation, it was concluded that the model has the potential for wide application in calculating wheeling rates in a deregulated competitive power transmission environment. 9 refs., 3 tabs

  1. Front propagation in flipping processes

    International Nuclear Information System (INIS)

    Antal, T; Ben-Avraham, D; Ben-Naim, E; Krapivsky, P L

    2008-01-01

    We study a directed flipping process that underlies the performance of the random edge simplex algorithm. In this stochastic process, which takes place on a one-dimensional lattice whose sites may be either occupied or vacant, occupied sites become vacant at a constant rate and simultaneously cause all sites to the right to change their state. This random process exhibits rich phenomenology. First, there is a front, defined by the position of the leftmost occupied site, that propagates at a nontrivial velocity. Second, the front involves a depletion zone with an excess of vacant sites. The total excess Δ k increases logarithmically, Δ k ≅ ln k, with the distance k from the front. Third, the front exhibits ageing-young fronts are vigorous but old fronts are sluggish. We investigate these phenomena using a quasi-static approximation, direct solutions of small systems and numerical simulations

  2. Modelling and simulation of dynamic wheel-rail interaction using a roller rig

    International Nuclear Information System (INIS)

    Anyakwo, A; Pislaru, C; Ball, A; Gu, F

    2012-01-01

    The interaction between the wheel and rail greatly influences the dynamic response of railway vehicles on the track. A roller rig facility can be used to study and monitor real time parameters that influence wheel-rail interaction such as wear, adhesion, friction and corrugation without actual field tests being carried out. This paper presents the development of the mathematical models for full scale roller rig and 1/5 scale roller rig and the wear prediction model based on KTH wear function. The simulated critical speed for the 1/5 scale roller rig is about one-fifth of the critical speed for the full scale model so the simulated results compare well with the theory related to wheel-rail contact and dynamics. Also the differences between the simulated rolling radii for the full scale model with and without wear function are analysed. This paper presents the initial stage of a large scale research project where the influence of wear on the wheel-rail performance will be studied in more depth.

  3. Rotating target wheel system for super-heavy element production at ATLAS

    CERN Document Server

    Greene, J P; Falout, J; Janssens, R V F

    2004-01-01

    A new scattering chamber housing a large diameter rotating target wheel has been designed and constructed in front of the Fragment Mass Analyzer (FMA) for the production of very heavy nuclei (Z greater than 100) using beams from the Argonne Tandem Linear Accelerator System (ATLAS). In addition to the target and drive system, the chamber is extensively instrumented in order to monitor target performance and deterioration. Capabilities also exist to install rotating entrance and exit windows for gas cooling of the target within the scattering chamber. The design and initial tests are described.

  4. 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.

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

    OpenAIRE

    Edrén, Johannes

    2014-01-01

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

  6. Fire simulation of the canister transfer and installation vehicle

    International Nuclear Information System (INIS)

    Peltokorpi, L.

    2012-12-01

    A pyrolysis model of the canister transfer and installation vehicle was developed and vehicle fires in the final disposal tunnel and in the central tunnel were simulated using the fire simulation program FDS (Fire Dynamics Simulator). For comparison, same vehicle fire was also simulated at conditions in which the fire remained as a fuel controlled during the whole simulation. The purpose of the fire simulations was to simulate the fire behaviour realistically taking into account for example the limitations coming from the lack of oxygen. The material parameters for the rubber were defined and the simulation models for the tyres developed by simulating the fire test of a front wheel loader rubber tyre done by SP Technical Research Institute of Sweden. In these simulations the most important phenomena were successfully brought out but the timing of the phenomena was difficult. The final values for the rubber material parameters were chosen so that the simulated fire behaviour was at least as intense as the measured one. In the vehicle fire simulations a hydraulic oil or diesel leak causing a pool fire size of 2 MW and 2 m 2 was assumed. The pool fire was assumed to be located under the tyres of the SPMT (Self Propelled Modular Transporters) transporter. In each of the vehicle fire simulations only the tyres of the SPMT transporter were observed to be burning whereas the tyres of the trailer remained untouched. In the fuel controlled fire the maximum power was slightly under 10 MW which was reached in about 18 minutes. In the final disposal tunnel the growth of the fire was limited due to the lack of oxygen and the relatively fast air flows existing in the tunnel. Fast air flows caused the flame spreading to be limited to the certain directions. In the final disposal tunnel fire the maximum power was slightly over 7 MW which was reached about 8 minutes after the ignition. In the central tunnel there was no shortage of oxygen but the spread of the fire was limited due

  7. Photoionization effects in ionization fronts

    International Nuclear Information System (INIS)

    Arrayas, Manuel; Fontelos, Marco A; Trueba, Jose L

    2006-01-01

    In this paper we study the effects of photoionization processes on the propagation of both negative and positive ionization fronts in streamer discharge. We show that negative fronts accelerate in the presence of photoionization events. The appearance and propagation of positive ionization fronts travelling with constant velocity is explained as the result of the combined effects of photoionization and electron diffusion. The photoionization range plays an important role in the selection of the velocity of the ionization front as we show in this work

  8. Photoionization effects in ionization fronts

    Energy Technology Data Exchange (ETDEWEB)

    Arrayas, Manuel [Departamento de Electromagnetismo, Universidad Rey Juan Carlos, Tulipan s/n, 28933 Mostoles, Madrid (Spain); Fontelos, Marco A [Departamento de Matematicas, Instituto de Matematicas y Fisica Fundamental, Consejo Superior de Investigaciones CientIficas, C/Serrano 123, 28006 Madrid (Spain); Trueba, Jose L [Departamento de Electromagnetismo, Universidad Rey Juan Carlos, Tulipan s/n, 28933 Mostoles, Madrid (Spain)

    2006-12-21

    In this paper we study the effects of photoionization processes on the propagation of both negative and positive ionization fronts in streamer discharge. We show that negative fronts accelerate in the presence of photoionization events. The appearance and propagation of positive ionization fronts travelling with constant velocity is explained as the result of the combined effects of photoionization and electron diffusion. The photoionization range plays an important role in the selection of the velocity of the ionization front as we show in this work.

  9. 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

  10. Evaluation of the 30 Ton CHA Crane Wheel Axle Modification

    International Nuclear Information System (INIS)

    RICH, J.W.

    2002-01-01

    An existing design for eccentric bushings was utilized and updated as necessary to accommodate minor adjustment as required to correct wheel alignment on the North West Idler wheel. The design is revised to install eccentric bushings on only one end

  11. Tensegrital Wheel for Enhanced Surface Mobility, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — ProtoInnovations introduces the "tensegrital wheel" an inventive concept for wheeled locomotion that exploits the geometric and mechanical attributes of a tensegrity...

  12. Maximum Torque and Momentum Envelopes for Reaction Wheel Arrays

    Science.gov (United States)

    Markley, F. Landis; Reynolds, Reid G.; Liu, Frank X.; Lebsock, Kenneth L.

    2009-01-01

    Spacecraft reaction wheel maneuvers are limited by the maximum torque and/or angular momentum that the wheels can provide. For an n-wheel configuration, the torque or momentum envelope can be obtained by projecting the n-dimensional hypercube, representing the domain boundary of individual wheel torques or momenta, into three dimensional space via the 3xn matrix of wheel axes. In this paper, the properties of the projected hypercube are discussed, and algorithms are proposed for determining this maximal torque or momentum envelope for general wheel configurations. Practical strategies for distributing a prescribed torque or momentum among the n wheels are presented, with special emphasis on configurations of four, five, and six wheels.

  13. Reaction Wheel Disturbance Model Extraction Software, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Reaction wheel disturbances are some of the largest sources of noise on sensitive telescopes. Such wheel-induced mechanical noises are not well characterized....

  14. Risk assessment of soil compaction in Europe – Rubber tracks or wheels on machinery

    DEFF Research Database (Denmark)

    Lamandé, Mathieu; Greve, Mogens Humlekrog; Schjønning, Per

    2018-01-01

    Subsoil compaction is persistent and affects the wide diversity of ecological services provided by agricultural soils. Efficient risk assessment tools are required to identify sustainable agricultural practices. Vehicles should not transmit stresses that exceed soil strength. Wheel load is the pr......Subsoil compaction is persistent and affects the wide diversity of ecological services provided by agricultural soils. Efficient risk assessment tools are required to identify sustainable agricultural practices. Vehicles should not transmit stresses that exceed soil strength. Wheel load...... the magnitude of contact stresses, (ii) compare effects of traffic on soil physical properties using tires or tracks, and (iii) evaluate a state-of-the-art method for risk assessment of soil compaction beneath tracks or tires at the European level. We measured contact stress below a fully-loaded sugar beet....... The contact area was larger and the maximum and vertical stress smaller beneath the rubber track than beneath the tire. Nevertheless, stress distribution beneath the rubber track was far from uniform, presenting high peak stresses beneath the wheels and rollers. Dry bulk density was similar after traffic...

  15. 29 CFR 1910.215 - Abrasive wheel machinery.

    Science.gov (United States)

    2010-07-01

    ... be securely fastened to the spindle and the bearing surface shall run true. When more than one wheel... 29 Labor 5 2010-07-01 2010-07-01 false Abrasive wheel machinery. 1910.215 Section 1910.215 Labor... OCCUPATIONAL SAFETY AND HEALTH STANDARDS Machinery and Machine Guarding § 1910.215 Abrasive wheel machinery. (a...

  16. 49 CFR 229.75 - Wheels and tire defects.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Wheels and tire defects. 229.75 Section 229.75....75 Wheels and tire defects. Wheels and tires may not have any of the following conditions: (a) A... two adjoining spots that are each two or more inches in length. (e) A seam running lengthwise that is...

  17. 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.

  18. Active learning of Pareto fronts.

    Science.gov (United States)

    Campigotto, Paolo; Passerini, Andrea; Battiti, Roberto

    2014-03-01

    This paper introduces the active learning of Pareto fronts (ALP) algorithm, a novel approach to recover the Pareto front of a multiobjective optimization problem. ALP casts the identification of the Pareto front into a supervised machine learning task. This approach enables an analytical model of the Pareto front to be built. The computational effort in generating the supervised information is reduced by an active learning strategy. In particular, the model is learned from a set of informative training objective vectors. The training objective vectors are approximated Pareto-optimal vectors obtained by solving different scalarized problem instances. The experimental results show that ALP achieves an accurate Pareto front approximation with a lower computational effort than state-of-the-art estimation of distribution algorithms and widely known genetic techniques.

  19. Geochemistry of Natural Redox Fronts

    International Nuclear Information System (INIS)

    Hofmann, B.A.

    1999-05-01

    Redox fronts are important geochemical boundaries which need to be considered in safety assessment of deep repositories for radioactive waste. In most cases, selected host-rock formations will be reducing due to the presence of ferrous minerals, sulphides, etc. During construction and operation of the repository, air will be introduced into the formation. After repository closure, oxidising conditions may persist locally until all oxygen is consumed. In the case of high-level waste, radiolysis of water may provide an additional source of oxidants. Oxidising conditions within a repository are thus possible and potentially have a strong influence on the mobility of many elements. The rate of movement of redox fronts, the boundary between oxidising and reducing environments, and their influence on migrating radionuclides are thus important factors influencing repository performance. The present report is a review of elemental behaviour at natural redox fronts, based on published information and work of the author. Redox fronts are geochemically and geometrically variable manifestations of a global interface between generally oxidising geochemical milieux in contact with the atmosphere and generally reducing milieux in contact with rocks containing ferrous iron, sulphide and/or organic carbon. A classification of redox fronts based on a subdivision into continental near-surface, marine near-surface, and deep environments is proposed. The global redox interface is often located close to the surface of rocks and sediments and, sometimes, within bodies of water. Temperature conditions are close to ambient. A deeper penetration of the global redox front to depths of several kilometres is found in basins containing oxidised sediments (red beds) and in some hydrothermal circulation systems. Temperatures at such deep redox fronts may reach 200 o C. Both near-surface and deep redox fronts are sites of formation of economic deposits of redox-sensitive elements, particularly of

  20. Rolling Friction on a Wheeled Laboratory Cart

    Science.gov (United States)

    Mungan, Carl E.

    2012-01-01

    A simple model is developed that predicts the coefficient of rolling friction for an undriven laboratory cart on a track that is approximately independent of the mass loaded onto the cart and of the angle of inclination of the track. The model includes both deformation of the wheels/track and frictional torque at the axles/bearings. The concept of…

  1. Vegetation response to wagon wheel camp layouts.

    African Journals Online (AJOL)

    Wagon wheel camp layouts have been favoured, in some quarters, for rotational grazing due to the economy and convenience of having the camps radially arranged around central facilities. A possible disadvantage of such layouts is the tendency for over-grazing near the hub and under-grazing at the extremities.

  2. Examination of a failed fifth wheel coupling

    CSIR Research Space (South Africa)

    Fernandes, PJL

    1998-03-01

    Full Text Available Examination of a fifth wheel coupling which had failed in service showed that it had been modified and that the operating handle had been moved from its original design position. This modification completely eliminated the safety device designed...

  3. Omnidirectional Wheel-Legged Hybrid Mobile Robot

    Directory of Open Access Journals (Sweden)

    István Vilikó

    2015-06-01

    Full Text Available The purpose of developing hybrid locomotion systems is to merge the advantages and to eliminate the disadvantages of different type of locomotion. The proposed solution combines wheeled and legged locomotion methods. This paper presents the mechatronic design approach and the development stages of the prototype.

  4. Investigating Functions with a Ferris Wheel

    Science.gov (United States)

    Johnson, Heather Lynn; Hornbein, Peter; Azeem, Sumbal

    2016-01-01

    The authors provide a dynamic Ferris wheel computer activity that teachers can use as an instructional tool to help students investigate functions. They use a student's work to illustrate how students can use relationships between quantities to further their thinking about functions.

  5. Experiments on a Tail-wheel Shimmy

    Science.gov (United States)

    Harling, R; Dietz, O

    1954-01-01

    Model tests on the "running belt" and tests with a full-scale tail wheel were made on a rotating drum as well as on a runway in order to investigate the causes of the undesirable shimmy phenomena frequently occurring on airplane tail wheels, and the means of avoiding them. The small model (scale 1:10) permitted simulation of the mass, moments of inertia, and fuselage stiffness of the airplane and determination of their influence on the shimmy, whereas by means of the larger model with pneumatic tires (scale 1:2) more accurate investigations were made on the tail wheel itself. The results of drum and road tests show good agreement with one another and with model values. Detailed investigations were made regarding the dependence of the shimmy tendency on trail, rolling speed, load, size of tires, ground friction,and inclination of the swivel axis; furthermore, regarding the influence of devices with restoring effect on the tail wheel, and the friction damping required for prevention of shimmy. Finally observations from slow-motion pictures are reported and conclusions drawn concerning the influence of tire deformation.

  6. 49 CFR 215.103 - Defective wheel.

    Science.gov (United States)

    2010-10-01

    ... of the rim; or, (i) A wheel on the car has been welded unless the car is being moved for repair in... on the car shows evidence of being loose such as oil seepage on the back hub or back plate; (h) A...

  7. Steady state modeling of desiccant wheels

    DEFF Research Database (Denmark)

    Bellemo, Lorenzo; Elmegaard, Brian; Kærn, Martin Ryhl

    2014-01-01

    Desiccant wheels are rotary desiccant dehumidifiers used in air conditioning and drying applications. The modeling of simultaneous heat and mass transfer in these components is crucial for estimating their performances, as well as for simulating and optimizing their implementation in complete...

  8. Performance Evaluation of Abrasive Grinding Wheel Formulated ...

    African Journals Online (AJOL)

    This paper presents a study on the formulation and manufacture of abrasive grinding wheel using locally formulated silicon carbide abrasive grains. Six local raw material substitutes were identified through pilot study and with the initial mix of the identified materials, a systematic search for an optimal formulation of silicon ...

  9. The time has come for retail wheeling

    International Nuclear Information System (INIS)

    Dahlen, D.O.; Achinger, S.K.

    1993-01-01

    Retail wheeling, the transmission and distribution of electric power for end users, fosters competition and promotes the efficient use of resources. Access to electric-utility transmission and distribution systems would establish competitive electric markets by permitting retail customers to obtain the lowest cost for energy which would meet their specific needs. Among electric utilities and their customers, the idea of allowing market forces to attract supply and set prices is a current controversy. To counter the anticompetitive effects of recent mergers in the wholesale market, the Federal Energy Regulatory Commission (FERC) has mandated open transmission access for wholesale customers. However, the FERC denied access to retail customers and qualifying facilities (QF) in both its Northeast Utilities (FERC case No. EC-90-1 90) and PacifiCorp (U.S. Circuit Court of Appeals for D.C., 89-1333) decisions. Retail wheeling will benefit both consumers and producers. The ability of large customers to purchase power from the lowest cost sources and have it transmitted to their facilities, will save American industrial and commercial customers at least $15 billion annually. The Increased efficiency resulting from competition would also reduce residential electric bills. Through retail wheeling, independent power producers can market their capacity to a greater customer base, and traditional utilities will benefit from access to other utilities markets with the more efficient utilities prospering. Retail wheeling will, therefore, reward efficient utilities and encourage inefficient utilities to improve

  10. Optimal Design of HGV Front Structure for Pedestrian Safety

    Science.gov (United States)

    Ramli, Faiz Redza; Yamazaki, Koetsu

    This paper addresses a pedestrian safety design of front structure of Heavy Goods Vehicle (HGV) by two concepts; firstly by equipping a lower bumper stiffener structure under the front bumper and secondly by putting an airbag in front of the HGV front panel. In this study, HGV-pedestrian collision accident was simulated by the crash analysis solver MADYMO environment, where the HGV model with the speed of 20 km/h was collided with an adult male and with an adult female pedestrian, respectively. The bumper and lower bumper stiffener were varied their positions, while the airbag was adjusted the vent hole size and the position of airbag in front of front panel vertically. The pedestrian injuries that can be sustained during the simulation impact were limited at the critical body parts of head, chest, upper leg; an injury criteria of Head Injury Criterion (HIC), Thorax Cumulative 3ms Acceleration (C3ms) and peak loads of femur, respectively. Because of various parameters and constraints of initial conditions and injury thresholds, a multi-objective optimization design problem considered these main injury criterion is solved in order to achieve the best solution for this study. The results of optimized design parameters for each cases and conditions were obtained and the possibilities of the proposed concept were discussed.

  11. Reinventing the Wheel: The Economic Benefits of Wheeled Transportation in Early British Colonial West Africa

    OpenAIRE

    Isaías N. Chaves; Stanley L. Engerman; James A. Robinson

    2013-01-01

    One of the great puzzles of Sub-Saharan African economic history is that wheeled transportation was barely used prior to the colonial period. Instead, head porterage was the main method of transportation. The consensus among historians is that this was a rational adaption to the underlying conditions and factor endowments. In this paper we undertake the first systematic investigation of the relative costs of the different forms of wheeled transportation in Africa. We focus on calculating the ...

  12. Kinematic analysis and experimental verification of a eccentric wheel based precision alignment mechanism for LINAC

    International Nuclear Information System (INIS)

    Mundra, G.; Jain, V.; Singh, K.K.; Saxena, P.; Khare, R.K.; Bagre, M.

    2011-01-01

    Eccentric wheel based precision alignment system was designed for the remote motorized alignment of proposed proton injector LINAC (SFDTL). As a part of the further development for the alignment and monitoring scheme, a menu driven alignment system is being developed. The paper describes a general kinematic equation (with base line tilt correction) based on the various parameters of the mechanism like eccentricity, wheel diameter, distance between the wheels and the diameter of the cylindrical accelerator component. Based on this equation the extent of the alignment range for the 4 degree of freedom is evaluated and analysis on some of the parameters variation and the theoretical accuracy/resolution is computed. For the same a computer program is written which can compute the various points for the each discrete position of the two motor combinations. The paper also describes the experimentally evaluated values of these positions (for the full extent of area) and the matching/comparison of the two data. These data now can be used for the movement computation required for alignment of the four motors (two front and two rear motors of the support structure). (author)

  13. A dynamic wheel-rail impact analysis of railway track under wheel flat by finite element analysis

    Science.gov (United States)

    Bian, Jian; Gu, Yuantong; Murray, Martin Howard

    2013-06-01

    Wheel-rail interaction is one of the most important research topics in railway engineering. It involves track impact response, track vibration and track safety. Track structure failures caused by wheel-rail impact forces can lead to significant economic loss for track owners through damage to rails and to the sleepers beneath. Wheel-rail impact forces occur because of imperfections in the wheels or rails such as wheel flats, irregular wheel profiles, rail corrugations and differences in the heights of rails connected at a welded joint. A wheel flat can cause a large dynamic impact force as well as a forced vibration with a high frequency, which can cause damage to the track structure. In the present work, a three-dimensional finite element (FE) model for the impact analysis induced by the wheel flat is developed by the use of the FE analysis (FEA) software package ANSYS and validated by another validated simulation. The effect of wheel flats on impact forces is thoroughly investigated. It is found that the presence of a wheel flat will significantly increase the dynamic impact force on both rail and sleeper. The impact force will monotonically increase with the size of wheel flats. The relationships between the impact force and the wheel flat size are explored from this FEA and they are important for track engineers to improve their understanding of the design and maintenance of the track system.

  14. Design of Wheeled Mobile Robot with Tri-Star Wheel as Rescue Robot

    Directory of Open Access Journals (Sweden)

    Rafiuddin Syam

    2014-10-01

    Full Text Available This study aims to design, and analyze a mobile robot that can handle some of the obstacles, they are uneven surfaces, slopes, can also climb stairs. WMR in this study is Tristar wheel that is containing three wheels for each set. On average surface only two wheels in contact with the surface, if there is an uneven surface or obstacle then the third wheel will rotate with the rotation center of the wheel in contact with the leading obstacle then only one wheel in contact with the surface. This study uses the C language program. Furthermore, the minimum thrust to be generated torque of the motor and transmission is 9.56 kg. The results obtained by calculation and analysis of DC motors used must have a torque greater than 14.67 kg.cm. Minimum thrust to be generated motor torque and the transmission is 9.56 kg. The experimental results give good results for robot to moving forward, backward, turn left, turn right and climbing the stairs.

  15. Development of active rear steer actuator. Development of four wheel steer actuator for active safety; Active rear steer actuator no kaihatsu. Yobo anzen ni muketa 4WS actuator no kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    Yamanaka, T [Aisin Seiki Co. Ltd., Aichi (Japan)

    1997-10-01

    Recently, ecology, energy saving and safety have become important issues. And Active Safety is spotlighted in vehicle control area. Many researches and developments on four wheel steer system have been done to improve vehicle stability. We have developed the Active Rear Steer system with electromechanical Actuator, which is mass-productive, compact, and high response and durable. 10 figs., 5 tabs.

  16. Study on the Attitude Control of Spacecraft Using Reaction Wheels

    Directory of Open Access Journals (Sweden)

    Ju-Young Du

    1998-06-01

    Full Text Available Attitude determination and control of satellite is important component which determines the accomplish satellite missions. In this study, attitude control using reaction wheels and momentum dumping of wheels are considered. Attitude control law is designed by Sliding control and LQR. Attitude maneuver control law is obtained by Shooting method. Wheels momentum dumping control law is designed by Bang-Bang control. Four reaction wheels are configurated for minimized the electric power consumption. Wheels control torque and magnetic moment of magnetic torquer are limited.

  17. Latent effectiveness of desiccant wheel: A silica gels- water system

    International Nuclear Information System (INIS)

    Rabah, A. A.; Mohamed, S. A.

    2009-01-01

    A latent heat effectiveness model in term of dimensionless groups? =f (NTU, m * ,Crm * ) for energy wheel has been analytically derived. The energy wheel is divided into humidification and dehumidification sections. For each section macroscopic mass differential equations for gas and the matrix were applied. In this process local latent effectiveness (? c ,? h ) for the humidification and dehumidification section of the wheel were obtained. The Latent effectiveness of the wheel is then derived form local effectiveness [? =f (? c ,? h)]. The model is compared with the existing experimental investigation and manufacturer data for energy wheel. More than 90% of the experimental data within a confidence limit of 95%. (Author)

  18. Is passenger vehicle incompatibility still a problem?

    Science.gov (United States)

    Teoh, Eric R; Nolan, Joseph M

    2012-01-01

    Passenger cars often are at a disadvantage when colliding with light trucks (sport utility vehicles [SUVs] and pickups) due to differences in mass, vehicle structural alignment, and stiffness. In 2003, vehicle manufacturers agreed to voluntary measures to improve compatibility, especially in front-to-front and front-to-side crashes, with full adherence to be achieved by September 2009. This study examined whether fatality rates are consistent with the expected benefit of this agreement. Analyses examined 2 death rates for 1- to 4-year-old passenger vehicles during 2000-2001 and 2008-2009 in the United States: occupant deaths per million registered vehicle years in these vehicles and deaths in other cars that collided with these vehicles in 2-vehicle crashes per million registered vehicle years. These rates were computed for each study period and for cars/minivans (referred to as cars), SUVs, and pickups by curb weight (in 500-pound increments). The latter death rate, referred to as the car crash partner death rate, also was computed for front-to-front crashes and front-to-side crashes where the front of the 1- to 4-year-old vehicle struck the side of the partner car. In both study periods, occupant death rates generally decreased for each vehicle type both with increasing curb weight and over time. SUVs experienced the greatest declines compared with cars and pickups. This is due in part to the early fitment of electronic stability control in SUVs, which drastically reduced the incidence of single-vehicle rollover crashes. Pickups had the highest death rates in both study periods. Car crash partner death rates generally declined over time for all vehicle categories but more steeply for SUVs and pickups colliding with cars than for cars colliding with cars. In fact, the car crash partner death rates for SUVs and cars were nearly identical during 2008-2009, suggesting that the voluntary design changes for compatibility have been effective. Car crash partner death

  19. The Running Wheel Enhances Food Anticipatory Activity: An Exploratory Study.

    Science.gov (United States)

    Flôres, Danilo E F L; Bettilyon, Crystal N; Jia, Lori; Yamazaki, Shin

    2016-01-01

    Rodents anticipate rewarding stimuli such as daily meals, mates, and stimulant drugs. When a single meal is provided daily at a fixed time of day, an increase in activity, known as food anticipatory activity (FAA), occurs several hours before feeding time. The factors affecting the expression of FAA have not been well-studied. Understanding these factors may provide clues to the undiscovered anatomical substrates of food entrainment. In this study we determined whether wheel-running activity, which is also rewarding to rodents, modulated the robustness of FAA. We found that access to a freely rotating wheel enhanced the robustness of FAA. This enhancement was lost when the wheel was removed. In addition, while prior exposure to a running wheel alone did not enhance FAA, the presence of a locked wheel did enhance FAA as long as mice had previously run in the wheel. Together, these data suggest that FAA, like wheel-running activity, is influenced by reward signaling.

  20. A Prototype Bucket Wheel Excavator for the Moon, Mars and Phobos

    Science.gov (United States)

    Muff, T.; Johnson, L.; King, R.; Duke, M. B.

    2004-02-01

    Excavation of surface regolith material is the first step in processes to extract volatile materials from planetary surface regolith for the production of propellant and life support consumables. Typically, concentrations of volatiles are low, so relatively large amounts of material must be excavated. A bucket wheel excavator is proposed, which has the capability of continuous excavation, which is readily adapted to granular regolith materials as found on the Moon, in drift deposits on Mars, and probably on the surface of asteroids and satellites, such as Phobos. The bucket wheel excavator is relatively simple, compared to machines such as front end loaders. It also has the advantage that excavation forces are principally horizontal rather than vertical, which minimizes the need for excavator mass and suits it to operations in reduced gravity fields. A prototype small bucket wheel excavator has been built at approximately the scale of the rovers that are carried to Mars on the Mars Exploration Rover Mission. The prototype allows the collection of data on forces exerted and power requirements for excavation and will provide data on which more efficient designs can be based. At excavation rates in the vicinity of one rover mass of material excavated per hour, tests of the prototype demonstrate that the power required is largely that needed to operate the excavator hardware and not related strongly to the amount of material excavated. This suggests that the excavation rate can be much larger for the same excavation system mass. Work on this prototype is continuing on the details of transfer of material from the bucket wheel to an internal conveyor mechanism, which testing demonstrated to be problematic in the current design.

  1. On the real-time estimation of the wheel-rail contact force by means of a new nonlinear estimator design model

    Science.gov (United States)

    Strano, Salvatore; Terzo, Mario

    2018-05-01

    The dynamics of the railway vehicles is strongly influenced by the interaction between the wheel and the rail. This kind of contact is affected by several conditioning factors such as vehicle speed, wear, adhesion level and, moreover, it is nonlinear. As a consequence, the modelling and the observation of this kind of phenomenon are complex tasks but, at the same time, they constitute a fundamental step for the estimation of the adhesion level or for the vehicle condition monitoring. This paper presents a novel technique for the real time estimation of the wheel-rail contact forces based on an estimator design model that takes into account the nonlinearities of the interaction by means of a fitting model functional to reproduce the contact mechanics in a wide range of slip and to be easily integrated in a complete model based estimator for railway vehicle.

  2. Carbody elastic vibrations of high-speed vehicles caused by bogie hunting instability

    Science.gov (United States)

    Wei, Lai; Zeng, Jing; Chi, Maoru; Wang, Jianbin

    2017-09-01

    In particular locations of the high-speed track, the worn wheel profile matched up with the worn rail profile will lead to an extremely high-conicity wheel-rail contact. Consequently, the bogie hunting instability arises, which further results in the so-called carbody shaking phenomenon. In this paper, the carbody elastic vibrations of a high-speed vehicle in service are firstly introduced. Modal tests are conducted to identity the elastic modes of the carbody. The ride comfort and running safety indices for the tested vehicle are evaluated. The rigid-flexible coupling dynamic model for the high-speed passenger car is then developed by using the FE and MBS coupling approach. The rail profiles in those particular locations are measured and further integrated into the simulation model to reproduce the bogie hunting and carbody elastic vibrations. The effects of wheel and rail wear on the vehicle system response, e.g. wheelset bifurcation graph and carbody vibrations, are studied. Two improvement measures, including the wheel profile modification and rail grinding, are proposed to provide possible solutions. It is found that the wheel-rail contact conicity can be lowered by decreasing wheel flange thickness or grinding rail corner, which is expected to improve the bogie hunting stability under worn rail and worn wheel conditions. The carbody elastic vibrations caused by bogie hunting instability can be further restrained.

  3. "Front" hotshet izvinitsja / Aleksandr Ikonnikov

    Index Scriptorium Estoniae

    Ikonnikov, Aleksandr

    2003-01-01

    Põhiliselt vene rahvusest noori ühendava liikumise "Front" esindajad kavatsevad kohtuda USA suursaadikuga Eestis ja vabandada kevadel suursaatkonna ees vägivallatsemisega lõppenud meeleavalduse pärast

  4. Energy conversion at dipolarization fronts

    Science.gov (United States)

    Khotyaintsev, Yu. V.; Divin, A.; Vaivads, A.; André, M.; Markidis, S.

    2017-02-01

    We use multispacecraft observations by Cluster in the Earth's magnetotail and 3-D particle-in-cell simulations to investigate conversion of electromagnetic energy at the front of a fast plasma jet. We find that the major energy conversion is happening in the Earth (laboratory) frame, where the electromagnetic energy is being transferred from the electromagnetic field to particles. This process operates in a region with size of the order several ion inertial lengths across the jet front, and the primary contribution to E·j is coming from the motional electric field and the ion current. In the frame of the front we find fluctuating energy conversion with localized loads and generators at sub-ion scales which are primarily related to the lower hybrid drift instability excited at the front; however, these provide relatively small net energy conversion.

  5. Vehicle to Vehicle Services

    DEFF Research Database (Denmark)

    Brønsted, Jeppe Rørbæk

    2008-01-01

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

  6. Wheels and Tires: Understanding the Numbers on the Sides of Tires Might Lead to Longer Life Tires and Improved Driving Safety

    Science.gov (United States)

    Ritz, John M.

    2005-01-01

    Automotive wheels and tires require knowledge to understand their specifications and use. While the durability and useful life of tires have increased substantially over the last several decades, in all probability consumers will purchase a number of vehicle tires over their lifetime. Knowing how they are made and what the numbers mean will assist…

  7. Reducing Energy Demand Using Wheel-Individual Electric Drives to Substitute EPS-Systems

    Directory of Open Access Journals (Sweden)

    Jürgen Römer

    2018-01-01

    Full Text Available The energy demand of vehicles is influenced, not only by the drive systems, but also by a number of add-on systems. Electric vehicles must satisfy this energy demand completely from the battery. Hence, the use of power steering systems directly result in a range reduction. The “e2-Lenk” joint project funded by the German Federal Ministry of Education and Research (BMBF involves a novel steering concept for electric vehicles to integrate the function of steering assistance into the drive-train. Specific distribution of driving torque at the steered axle allows the steering wheel torque to be influenced to support the steering force. This provides a potential for complete substitution of conventional power steering systems and reduces the vehicle’s energy demand. This paper shows the potential of wheel-individual drives influencing the driver’s steering torque using a control technique based on classical EPS control plans. Compared to conventional power-assisted steering systems, a reduced energy demand becomes evident over a wide range of operating conditions.

  8. Advanced Control of Wheeled Inverted Pendulum Systems

    CERN Document Server

    Li, Zhijun; Fan, Liping

    2013-01-01

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

  9. 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...

  10. Vehicles in hostile environment and service robots

    International Nuclear Information System (INIS)

    Marchal, P.; Villedieu, E.

    1987-01-01

    The article concerns the R. and D. activities of the French Atomic Energy Commission (C.E.A.) during the last years. The vehicles already in operation or still under study are described. Some for use in C.E.A.: VIRGULE, a wheeled vehicle of great mobility, CENTAURE and OSCAR, smaller tracked vehicles, VERI, derived from a commercial vehicle, MERITE, MIR and MAM, devised for the inspection of central parts of powerplants; others are devoted to various activities: PLA (Autonomous free pick-up) for collecting nodules in the bottom of oceans, autonomous cleaners for the tunnels, platforms and cars of underground railways. The constraints and various problems related to the design of such vehicles are then examined [fr

  11. Effect of suspension kinematic on 14 DOF vehicle model

    Science.gov (United States)

    Wongpattananukul, T.; Chantharasenawong, C.

    2017-12-01

    Computer simulations play a major role in shaping modern science and engineering. They reduce time and resource consumption in new studies and designs. Vehicle simulations have been studied extensively to achieve a vehicle model used in minimum lap time solution. Simulation result accuracy depends on the abilities of these models to represent real phenomenon. Vehicles models with 7 degrees of freedom (DOF), 10 DOF and 14 DOF are normally used in optimal control to solve for minimum lap time. However, suspension kinematics are always neglected on these models. Suspension kinematics are defined as wheel movements with respect to the vehicle body. Tire forces are expressed as a function of wheel slip and wheel position. Therefore, the suspension kinematic relation is appended to the 14 DOF vehicle model to investigate its effects on the accuracy of simulate trajectory. Classical 14 DOF vehicle model is chosen as baseline model. Experiment data is collected from formula student style car test runs as baseline data for simulation and comparison between baseline model and model with suspension kinematic. Results show that in a single long turn there is an accumulated trajectory error in baseline model compared to model with suspension kinematic. While in short alternate turns, the trajectory error is much smaller. These results show that suspension kinematic had an effect on the trajectory simulation of vehicle. Which optimal control that use baseline model will result in inaccuracy control scheme.

  12. Hybrid Aerial/Rover Vehicle

    Science.gov (United States)

    Bachelder, Aaron

    2003-01-01

    A proposed instrumented robotic vehicle called an "aerover" would fly, roll along the ground, and/or float on bodies of liquid, as needed. The aerover would combine features of an aerobot (a robotic lighter-than-air balloon) and a wheeled robot of the "rover" class. An aerover would also look very much like a variant of the "beach-ball" rovers. Although the aerover was conceived for use in scientific exploration of Titan (the largest moon of the planet Saturn), the aerover concept could readily be adapted to similar uses on Earth.

  13. Peculiarities of Clutch Forming Rails and Wheel Block Construction

    Science.gov (United States)

    Shiler, V. V.; Galiev, I. I.; Shiler, A. V.

    2018-03-01

    The clutch of the wheel and rail is significantly influenced by the design features of the standard wheel pair, which are manifested in the presence of "parasitic" slipping of the wheels along the rails during its movement. The purpose of the presented work is to evaluate new design solutions for wheel sets. The research was carried out using methods of comparative simulation modelling and physical prototyping. A new design of the wheel pair (block wheel pair) is proposed, which features an independent rotation of all surfaces of the wheels in contact with the rails. The block construction of the wheel pair forms open mechanical contours with the track gauge, which completely eliminates the "parasitic" slippage. As a result, in the process of implementing traction or braking forces, the coupling coefficient of the block construction of the wheel pair is significantly higher than that of existing structures. In addition, in the run-out mode, the resistance to movement of the block wheel pair is half as much. All this will allow one to significantly reduce the energy consumption for traction of trains, wear of track elements and crew, and to increase the speed and safety of train traffic.

  14. Phenomena of Foamed Concrete under Rolling of Aircraft Wheels

    Science.gov (United States)

    Jiang, Chun-shui; Yao, Hong-yu; Xiao, Xian-bo; Kong, Xiang-jun; Shi, Ya-jie

    2014-04-01

    Engineered Material Arresting System (EMAS) is an effective technique to reduce hazards associated with aircraft overrunning runway. In order to ascertain phenomena of the foamed concrete used for EMAS under rolling of aircraft wheel, a specially designed experimental setup was built which employed Boeing 737 aircraft wheels bearing actual vertical loads to roll through the foamed concrete. A number of experiments were conducted upon this setup. It is discovered that the wheel rolls the concrete in a pure rolling manner and crushes the concrete downwards, instead of crushing it forward, as long as the concrete is not higher than the wheel axle. The concrete is compressed into powder in-situ by the wheel and then is brought to bottom of the wheel. The powder under the wheel is loose and thus is not able to sustain wheel braking. It is also found that after being rolled by the wheel the concrete exhibits either of two states, i.e. either 'crushed through' whole thickness of the concrete or 'crushed halfway', depending on combination of strength of the concrete, thickness of the concrete, vertical load the wheel carries, tire dimension and tire pressure. A new EMAS design concept is developed that if an EMAS design results in the 'crushed through' state for the main gears while the 'crushed halfway' state for the nose gear, the arresting bed would be optimal to accommodate the large difference in strength between the nose gear and the main gear of an aircraft.

  15. Designing neuro-fuzzy controller for electromagnetic anti-lock braking system (ABS) on electric vehicle

    Science.gov (United States)

    Pramudijanto, Josaphat; Ashfahani, Andri; Lukito, Rian

    2018-03-01

    Anti-lock braking system (ABS) is used on vehicles to keep the wheels unlocked in sudden break (inside braking) and minimalize the stop distance of the vehicle. The problem of it when sudden break is the wheels locked so the vehicle steering couldn’t be controlled. The designed ABS system will be applied on ABS simulator using the electromagnetic braking. In normal condition or in condition without braking, longitudinal velocity of the vehicle will be equal with the velocity of wheel rotation, so the slip ratio will be 0 (0%) and if the velocity of wheel rotation is 0 (in locked condition) then the wheels will be slip 1 (100%). ABS system will keep the value of slip ratio so it will be 0.2 (20%). In this final assignment, the method that is used is Neuro-Fuzzy method to control the slip value on the wheels. The input is the expectable slip and the output is slip from plant. The learning algorithm which is used is Backpropagation that will work by feedforward to get actual output and work by feedback to get error value with target output. The network that was made based on fuzzy mechanism which are fuzzification, inference and defuzzification, Neuro-fuzzy controller can reduce overshoot plant respond to 43.2% compared to plant respond without controller by open loop.

  16. 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.

  17. Automation and traction control of articulated vehicles

    OpenAIRE

    Andersson, Ulf

    2013-01-01

    Articulated machines such as load-haul-dump machines, wheel loaders and haulers operate in many different environments and driving conditions. In particular they need to be able to perform well with road conditions and loads that can change drastically, setting hard requirements on performances and robustness. The control challenges for off-road vehicles are hence quite different from standard cars or trucks, which mostly drive on regular roads. An important aspect characterising this is the ...

  18. A Model of Active Roll Vehicle Suspension

    Directory of Open Access Journals (Sweden)

    I. Čech

    2010-01-01

    Full Text Available This paper describes active suspension with active roll for four-wheel vehicle (bus by means of an in-series pump actuator with doubled hydropneumatic springs. It also gives full control law with no sky-craping. Lateral stiffness and solid axle geometry in the mechanical model are not neglected. Responses to lateral input as well as responses to statistical unevennesses show considerable improvement of passengers comfort and safety when cornering.

  19. Design and development of a walking robotic vehicle

    International Nuclear Information System (INIS)

    Shkolnik, N.

    1990-01-01

    Quest Systems, Inc., sponsored by DARPA, is developing a low-cost, high-efficiency walking robotic vehicle (WRV). This vehicle will be targeted for a variety of applications in waste management, hazardous materials transport and handling, nuclear plant operations, maintenance and decontamination, security, mining, and other areas in industrial and military sectors. The purpose of the development is twofold. The first goal is to demonstrate that, in spite of common beliefs, legged locomotion can be as efficient as wheeled (at low velocities), which could make a walking vehicle a prime candidate for an autonomously operated platform. The second goal is to show that this type of vehicle can be built rather inexpensively (below $100,000), which would allow it to compete on a cost/functionality basis with wheeled and tracked ones

  20. Problems of locomotive wheel wear in fleet replacement

    Directory of Open Access Journals (Sweden)

    L.P. Lingaytis

    2013-08-01

    Full Text Available Purpose. To conduct a research and find out the causes of defects appearing on the wheel thread of freight locomotives 2М62 and SIEMENS ER20CF. Methodology. To find the ways to solve this problem comparing the locomotive designs and their operating conditions. Findings. After examining the nature of the wheel wear the main difference was found: in locomotives of the 2M62 line wears the wheel flange, and in the locomotives SIEMENS ER20CF – the tread surface. After installation on the 2M62 locomotive the lubrication system of flanges their wear rate significantly decreased. On the new freight locomotives SIEMENS ER20CF the flange lubrication systems of the wheel set have been already installed at the factory, however the wheel thread is wearing. As for locomotives 2M62, and on locomotives SIEMENS ER20CF most wear profile skating wheels of the first wheel set. On both locomotive lines the 2М62 and the SIEMENS ER20CF the tread profile of the first wheel set most of all is subject to the wear. After reaching the 170 000 km run, the tread surface of some wheels begins to crumble. There was a suspicion that the reason for crumb formation of the wheel surface may be insufficient or excessive wheel hardness or its chemical composition. In order to confirm or deny this suspicion the following studies were conducted: the examination of the rim surface, the study of the wheel metal hardness and the document analysis of the wheel production and their comparison with the results of wheel hardness measurement. Practical value. The technical condition of locomotives is one of the bases of safety and reliability of the rolling stock. The reduction of the wheel wear significantly reduces the operating costs of railway transport. After study completion it was found that there was no evidence to suggest that the ratio of the wheel-rail hardness could be the cause of the wheel surface crumbling.

  1. 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

  2. Tire-road friction estimation and traction control strategy for motorized electric vehicle

    Science.gov (United States)

    Jin, Li-Qiang; Yue, Weiqiang

    2017-01-01

    In this paper, an optimal longitudinal slip ratio system for real-time identification of electric vehicle (EV) with motored wheels is proposed based on the adhesion between tire and road surface. First and foremost, the optimal longitudinal slip rate torque control can be identified in real time by calculating the derivative and slip rate of the adhesion coefficient. Secondly, the vehicle speed estimation method is also brought. Thirdly, an ideal vehicle simulation model is proposed to verify the algorithm with simulation, and we find that the slip ratio corresponds to the detection of the adhesion limit in real time. Finally, the proposed strategy is applied to traction control system (TCS). The results showed that the method can effectively identify the state of wheel and calculate the optimal slip ratio without wheel speed sensor; in the meantime, it can improve the accelerated stability of electric vehicle with traction control system (TCS). PMID:28662053

  3. A numerical investigation on the efficiency of range extending systems using Advanced Vehicle Simulator

    Science.gov (United States)

    Varnhagen, Scott; Same, Adam; Remillard, Jesse; Park, Jae Wan

    2011-03-01

    Series plug-in hybrid electric vehicles of varying engine configuration and battery capacity are modeled using Advanced Vehicle Simulator (ADVISOR). The performance of these vehicles is analyzed on the bases of energy consumption and greenhouse gas emissions on the tank-to-wheel and well-to-wheel paths. Both city and highway driving conditions are considered during the simulation. When simulated on the well-to-wheel path, it is shown that the range extender with a Wankel rotary engine consumes less energy and emits fewer greenhouse gases compared to the other systems with reciprocating engines during many driving cycles. The rotary engine has a higher power-to-weight ratio and lower noise, vibration and harshness compared to conventional reciprocating engines, although performs less efficiently. The benefits of a Wankel engine make it an attractive option for use as a range extender in a plug-in hybrid electric vehicle.

  4. Estimation of the friction coefficient between wheel and rail surface using traction motor behaviour

    International Nuclear Information System (INIS)

    Zhao, Y; Liang, B; Iwnicki, S

    2012-01-01

    The friction coefficient between a railway wheel and rail surface is a crucial factor in maintaining high acceleration and braking performance of railway vehicles thus monitoring this friction coefficient is important. Restricted by the difficulty in directly measuring the friction coefficient, the creep force or creepage, indirect methods using state observers are used more frequently. This paper presents an approach using a Kalman filter to estimate the creep force and creepage between the wheel and rail and then to identify the friction coefficient using the estimated creep force-creepage relationship. A mathematic model including an AC motor, wheel and roller is built to simulate the driving system. The parameters are based on a test rig at Manchester Metropolitan University. The Kalman filter is designed to estimate the friction coefficient based on the measurements of the simulation model. Series of residuals are calculated through the comparison between the estimated creep force and theoretical values of different friction coefficient. Root mean square values of the residuals are used in the friction coefficient identification.

  5. Increasing the stability of the articulated lorry at braking by locking the fifth wheel coupling

    Science.gov (United States)

    Skotnikov, G. I.; Jileykin, M. M.; Komissarov, A. I.

    2018-02-01

    The jackknifing of the articulated lorry is determined by the loss of stability with respect to the vertical axis of the fifth wheel coupling, which can be caused by the failure of the brake system, the displacement of the center of mass of the semitrailer or tractor from the longitudinal axis of the vehicle, the road parameters (longitudinal and transverse slopes), the difference in the friction coefficients under the sides of the articulated lorry. In this regard, the issue of creating devices that prevent the jackknifing, and their control systems is important. A method is proposed for maintaining the stability of the movement of articulated lorry when braking both on a straight line and in a turn by blocking the relative rotation of the tractor and the trailer. Blocking occurs due to the creation of a stabilizing moment in the direction opposite to the angular rate of folding. To test the developed algorithm for locking the fifth wheel coupling, a mathematical model of the spatial motion of the articulated lorry was developed, including the models of interaction of an elastic tire with a rigid terrain, suspension systems, transmission, steering, fifth-wheel coupling. The efficiency and effectiveness of the coupling locking control system is proved by comparing the results of the simulation of a straight-line braking and braking in turn. It is shown that the application of the control system significantly increases the stability of the road train.

  6. Fatigue based design and analysis of wheel hub for Student formula car by Simulation Approach

    Science.gov (United States)

    Gowtham, V.; Ranganathan, A. S.; Satish, S.; Alexis, S. John; Siva kumar, S.

    2016-09-01

    In the existing design of Wheel hub used for Student formula cars, the brake discs cannot be removed easily since the disc is mounted in between the knuckle and hub. In case of bend or any other damage to the disc, the replacement of the disc becomes difficult. Further using OEM hub and knuckle that are used for commercial vehicles will result in increase of unsprung mass, which should be avoided in Student formula cars for improving the performance. In this design the above mentioned difficulties have been overcome by redesigning the hub in such a way that the brake disc could be removed easily by just removing the wheel and the caliper and also it will have reduced weight when compared to existing OEM hub. A CAD Model was developed based on the required fatigue life cycles. The forces acting on the hub were calculated and linear static structural analysis was performed on the wheel hub for three different materials using ANSYS Finite Element code V 16.2. The theoretical fatigue strength was compared with the stress obtained from the structural analysis for each material.

  7. Solar wheel chair; Solar kurumaisu (iryokei no tachiba kara no kokoromi)

    Energy Technology Data Exchange (ETDEWEB)

    Okabe, K [Gunma Prefectural College of Health Sciences, Gunma (Japan)

    1996-10-27

    Physically handicapped people due to accidents for example have been increasing yearly in number with the increase of the aged, spread of cars, and change in the living environment. Therefore, participation in society by such people as called the weak is indispensable. Under the circumstances, as a means of their participation, a wheel chair as a moving aid was examined from the viewpoint of medical treatment and classified into three categories as follows: (1) for the use of the aged who are healthy but leg muscles are weak, (2) for the use of the invalid incapable of moving a part of the body and (3) for the use in sports by people who are disabled in the lower half of the body but healthy otherwise. In other words, prototypes were made for three kinds of solar wheel chair, for the aged, for the invalid and for sport use by the disabled, with a field test performed for each prototype. The wheel chairs were exhibited in the school, used in welfare facilities and driven by a disabled person who participated in 100km marathon. The users` opinions were favorable stating they were able to drive by themselves the new vehicle utilizing the clean energy and to move around by their own free will. 6 refs., 5 figs.

  8. Networked Control System for the Guidance of a Four-Wheel Steering Agricultural Robotic Platform

    Directory of Open Access Journals (Sweden)

    Eduardo Paciência Godoy

    2012-01-01

    Full Text Available A current trend in the agricultural area is the development of mobile robots and autonomous vehicles for precision agriculture (PA. One of the major challenges in the design of these robots is the development of the electronic architecture for the control of the devices. In a joint project among research institutions and a private company in Brazil a multifunctional robotic platform for information acquisition in PA is being designed. This platform has as main characteristics four-wheel propulsion and independent steering, adjustable width, span of 1,80 m in height, diesel engine, hydraulic system, and a CAN-based networked control system (NCS. This paper presents a NCS solution for the platform guidance by the four-wheel hydraulic steering distributed control. The control strategy, centered on the robot manipulators control theory, is based on the difference between the desired and actual position and considering the angular speed of the wheels. The results demonstrate that the NCS was simple and efficient, providing suitable steering performance for the platform guidance. Even though the simplicity of the NCS solution developed, it also overcame some verified control challenges in the robot guidance system design such as the hydraulic system delay, nonlinearities in the steering actuators, and inertia in the steering system due the friction of different terrains.

  9. An alternative to FASTSIM for tangential solution of the wheel-rail contact

    Science.gov (United States)

    Sichani, Matin Sh.; Enblom, Roger; Berg, Mats

    2016-06-01

    In most rail vehicle dynamics simulation packages, tangential solution of the wheel-rail contact is gained by means of Kalker's FASTSIM algorithm. While 5-25% error is expected for creep force estimation, the errors of shear stress distribution, needed for wheel-rail damage analysis, may rise above 30% due to the parabolic traction bound. Therefore, a novel algorithm named FaStrip is proposed as an alternative to FASTSIM. It is based on the strip theory which extends the two-dimensional rolling contact solution to three-dimensional contacts. To form FaStrip, the original strip theory is amended to obtain accurate estimations for any contact ellipse size and it is combined by a numerical algorithm to handle spin. The comparison between the two algorithms shows that using FaStrip improves the accuracy of the estimated shear stress distribution and the creep force estimation in all studied cases. In combined lateral creepage and spin cases, for instance, the error in force estimation reduces from 18% to less than 2%. The estimation of the slip velocities in the slip zone, needed for wear analysis, is also studied. Since FaStrip is as fast as FASTSIM, it can be an alternative for tangential solution of the wheel-rail contact in simulation packages.

  10. A mathematical model for predicting lane changes using the steering wheel angle.

    Science.gov (United States)

    Schmidt, Kim; Beggiato, Matthias; Hoffmann, Karl Heinz; Krems, Josef F

    2014-06-01

    Positive safety effects of advanced driver assistance systems can only become effective if drivers accept and use these systems. Early detection of driver's intention would allow for selective system activation and therefore reduce false alarms. This driving simulator study aims at exploring early predictors of lane changes. In total, 3111 lane changes of 51 participants on a simulated highway track were analyzed. Results show that drivers stopped their engagement in a secondary task about 7s before crossing the lane, which indicates a first planning phase of the maneuver. Subsequently, drivers start moving toward the lane, marking a mean steering wheel angle of 2.5°. Steering wheel angle as a directly measurable vehicle parameter appears as a promising early predictor of a lane change. A mathematical model of the steering wheel angle is presented, which is supposed to contribute for predicting lane change maneuvers. The mathematical model will be part of a further predictor of lane changes. This predictor can be a new advanced driver assistance system able to recognize a driver's intention. With this knowledge, other systems can be activated or deactivated so drivers get no annoying and exhausting alarm signals. This is one way how we can increase the acceptance of assistance systems. Copyright © 2014 Elsevier Ltd. All rights reserved.

  11. The colour wheels of art, perception, science and physiology

    Science.gov (United States)

    Harkness, Nick

    2006-06-01

    Colour is not the domain of any one discipline be it art, philosophy, psychology or science. Each discipline has its own colour wheel and this presentation examines the origins and philosophies behind the colour circles of Art, Perception, Science and Physiology (after image) with reference to Aristotle, Robert Boyle, Leonardo da Vinci, Goethe, Ewald Hering and Albert Munsell. The paper analyses and discusses the differences between the four colour wheels using the Natural Colour System® notation as the reference for hue (the position of colours within each of the colour wheels). Examination of the colour wheels shows the dominance of blue in the wheels of art, science and physiology particularly at the expense of green. This paper does not consider the three-dimensionality of colour space its goal was to review the hue of a colour with regard to its position on the respective colour wheels.

  12. OPTIMIZATION OF HEATING OF GEAR WHEEL USING NUMERICAL MODELING

    Directory of Open Access Journals (Sweden)

    Soňa Benešová

    2013-09-01

    Full Text Available Successful heat treating and carburizing of gear wheels for wind turbine gear boxes requires that plastic deformation in the wheel is minimized. Numerical modeling using the DEFORM software was aimed at exploring the effects of the base, on which the gear wheel rests during heating, on the heating process. Homogeneous heating was assumed. It was found that the base heats up more quickly than the workpiece. It is the consequence of the base's shape and volume. As a result, the base expands and slides against the wheel, predominantly at the first heating stage. Later on, it prevents the gear wheel from expanding, causing plastic deformation in the wheel. The findings were used for designing new heating schedules to minimize these undesirable interactions and to reduce the plastic deformation to a negligible magnitude. In addition, this paper presents an example of a practical use of numerical modeling in the DEFORM software.

  13. OPTIMIZATION OF HEATING OF GEAR WHEEL USING NUMERICAL MODELING

    Directory of Open Access Journals (Sweden)

    Sona Benesova

    2013-05-01

    Full Text Available Successful heat treating and carburizing of gear wheels for wind turbine gear boxes requires that plastic deformation in the wheel is minimized. Numerical modeling using the DEFORM software was aimed at exploring the effects of the base, on which the gear wheel rests during heating, on the heating process. Homogeneous heating was assumed. It was found that the base heats up more quickly than the workpiece. It is the consequence of the base's shape and volume. As a result, the base expands and slides against the wheel, predominantly at the first heating stage. Later on, it prevents the gear wheel from expanding, causing plastic deformation in the wheel. The findings were used for designing new heating schedules to minimize these undesirable interactions and to reduce the plastic deformation to a negligible magnitude. In addition, this paper presents an example of a practical use of numerical modeling in the DEFORM software.

  14. 46 CFR 122.340 - Vessels carrying vehicles.

    Science.gov (United States)

    2010-10-01

    ... vehicles freely in the event of fire or other disaster. The decks, where necessary, must be distinctly... their emergency brakes set when the vessel is underway, and that the motors are not started until the... loading ramp must have its wheels securely blocked, while the vessel is being navigated. (c) The master...

  15. The 'Sneaky Snake' reaches the parts other vehicles cannot

    International Nuclear Information System (INIS)

    Anon.

    1988-01-01

    The Articulated Transporter/Manipulator system (ATMS) is a new multi-segmented, semi-autonomous transporter under development in the USA. It will be able to negotiate complex, obstacle strewn environments not reachable by legged, wheeled or tracked vehicles. Ultimately it will be used for surveillance, inspection, maintenance and emergency tasks. (U.K.)

  16. Learning feedforward controller for a mobile robot vehicle

    NARCIS (Netherlands)

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

    1996-01-01

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

  17. Durability Analysis of a Harvesting Vehicle using Matlab and Ansys

    DEFF Research Database (Denmark)

    Kristensen, Anders Schmidt

    2009-01-01

    The present paper describes an approach to predict fatigue damage of a mechanical system applying modal super-positioning. Initially a dynamic FEM beam model including a nonlinear wheel contact model has been developed for the harvesting vehicle structure. A load history is generated for a specif...

  18. Onboard Hydrogen/Helium Sensors in Support of the Global Technical Regulation: An Assessment of Performance in Fuel Cell Electric Vehicle Crash Tests

    Energy Technology Data Exchange (ETDEWEB)

    Post, M. B.; Burgess, R.; Rivkin, C.; Buttner, W.; O' Malley, K.; Ruiz, A.

    2012-09-01

    Automobile manufacturers in North America, Europe, and Asia project a 2015 release of commercial hydrogen fuel cell powered light-duty road vehicles. These vehicles will be for general consumer applications, albeit initially in select markets but with much broader market penetration expected by 2025. To assure international harmony, North American, European, and Asian regulatory representatives are striving to base respective national regulations on an international safety standard, the Global Technical Regulation (GTR), Hydrogen Fueled Vehicle, which is part of an international agreement pertaining to wheeled vehicles and equipment for wheeled vehicles.

  19. 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

  20. Torsional Moment Measurement on Bucket Wheel Shaft of Giant Machine

    Directory of Open Access Journals (Sweden)

    Jiří FRIES

    2011-06-01

    Full Text Available Bucket wheel loading at the present time (torsional moment on wheel shaft, peripheral cutting force is determined from electromotor incoming power or reaction force measured on gearbox hinge. Both methods together are weighted by steel construction absorption of driving units and by inertial forces of motor rotating parts. In the article is described direct method of the torsional moment measurement, which eliminates mentioned unfavourable impacts except absorption of steel construction of bucket wheel itself.