WorldWideScience

Sample records for vehicle system controller

  1. HYBRID VEHICLE CONTROL SYSTEM

    Directory of Open Access Journals (Sweden)

    V. Dvadnenko

    2016-06-01

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

  2. Vehicle electrical system state controller

    Science.gov (United States)

    Bissontz, Jay E.

    2017-10-17

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

  3. Component Control System for a Vehicle

    Science.gov (United States)

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

    2016-01-01

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

  4. Distributed Control in Multi-Vehicle Systems

    Directory of Open Access Journals (Sweden)

    Paul A. Avery

    2013-12-01

    Full Text Available The Southwest Research Institute (SwRI Mobile Autonomous Robotics Technology Initiative (MARTI program has enabled the development of fully-autonomous passenger-sized commercial vehicles and military tactical vehicles, as well as the development of cooperative vehicle behaviors, such as cooperative sensor sharing and cooperative convoy operations. The program has also developed behaviors to interface intelligent vehicles with intelligent road-side devices. The development of intelligent vehicle behaviors cannot be approached as stand-alone phenomena; rather, they must be understood within a context of the broader traffic system dynamics. The study of other complex systems has shown that system-level behaviors emerge as a result of the spatio-temporal dynamics within a system's constituent parts. The design of such systems must therefore account for both the system-level emergent behavior, as well as behaviors of individuals within the system. It has also become clear over the past several years, for both of these domains, that human trust in the behavior of individual vehicles is paramount to broader technology adoption. This paper examines the interplay between individual vehicle capabilities, vehicle connectivity, and emergent system behaviors, and presents some considerations for a distributed control paradigm in a multi-vehicle system.

  5. Innovative control systems for tracked vehicle platforms

    CERN Document Server

    2014-01-01

     This book has been motivated by an urgent need for designing and implementation of innovative control algorithms and systems for tracked vehicles. Nowadays the unmanned vehicles are becoming more and more common. Therefore there is a need for innovative mechanical constructions capable of adapting to various applications regardless the ground, air or water/underwater environment. There are multiple various activities connected with tracked vehicles. They can be distributed among three main groups: design and control algorithms, sensoric and vision based in-formation, construction and testing mechanical parts of unmanned vehicles. Scientists and researchers involved in mechanics, control algorithms, image processing, computer vision, data fusion, or IC will find this book useful.

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

    Science.gov (United States)

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

    2009-07-21

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

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

    Science.gov (United States)

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

    2009-02-10

    A battery control system for hybrid vehicle includes a hybrid powertrain battery, a vehicle accessory battery, and a prime mover driven generator adapted to charge the vehicle accessory battery. A detecting arrangement is configured to monitor the vehicle accessory battery's state of charge. A controller is configured to activate the prime mover to drive the generator and recharge the vehicle accessory battery in response to the vehicle accessory battery's state of charge falling below a first predetermined level, or transfer electrical power from the hybrid powertrain battery to the vehicle accessory battery in response to the vehicle accessory battery's state of charge falling below a second predetermined level. The invention further includes a method for controlling a hybrid vehicle powertrain system.

  8. AUTOMATED COMPUTER SYSTEM OF VEHICLE VOICE CONTROL

    Directory of Open Access Journals (Sweden)

    A. Kravchenko

    2009-01-01

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

  9. Electric vehicle regenerative antiskid braking and traction control system

    Science.gov (United States)

    Cikanek, Susan R.

    1995-01-01

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

  10. Electric vehicle regenerative antiskid braking and traction control system

    Science.gov (United States)

    Cikanek, S.R.

    1995-09-12

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

  11. Performance evaluation and design of flight vehicle control systems

    CERN Document Server

    Falangas, Eric T

    2015-01-01

    This book will help students, control engineers and flight dynamics analysts to model and conduct sophisticated and systemic analyses of early flight vehicle designs controlled with multiple types of effectors and to design and evaluate new vehicle concepts in terms of satisfying mission and performance goals. Performance Evaluation and Design of Flight Vehicle Control Systems begins by creating a dynamic model of a generic flight vehicle that includes a range of elements from airplanes and launch vehicles to re-entry vehicles and spacecraft. The models may include dynamic effects dealing with structural flexibility, as well as dynamic coupling between structures and actuators, propellant sloshing, and aeroelasticity, and they are typically used for control analysis and design. The book shows how to efficiently combine different types of effectors together, such as aero-surfaces, TVC, throttling engines and RCS, to operate as a system by developing a mixing logic atrix. Methods of trimming a vehicle controll...

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

    Science.gov (United States)

    Kiencke, Uwe; Nielsen, Lars

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

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

    Science.gov (United States)

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

    1993-01-01

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

  14. Safety problems in vehicles with adaptive cruise control system

    Directory of Open Access Journals (Sweden)

    Yadav Arun K.

    2017-06-01

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

  15. Control system and method for a hybrid electric vehicle

    Science.gov (United States)

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

    2001-01-01

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

  16. A new electronic control system for unmanned underwater vehicles

    OpenAIRE

    Molina Molina, J.C.; Guerrero González, A.; Gilabert, J.

    2015-01-01

    In this paper a new electronic control system for unmanned underwater vehicles is presented. This control system is characterized by a distribution in control over two network of type CANBus and Ethernet. This new electronic control system integrates functionalities of AUVs, as the automatic execution of preprogrammed trajectories. The control system also integrates an acoustic positioning system based on USBL. The information of relative positioning is sent through specific...

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2009-02-01

    This paper presents control performance evaluation of optimal preview control algorithm for vehicle suspension featuring MR shock absorber. The optimal preview control algorithm has several advantages such as high control performance over that which is best for a non-preview system. In order to achieve this goal, a commercial MR shock absorber, Delphi MganerideTM, which is applicable to high class passenger vehicle, is adopted and its field-dependent damping force and dynamic responses are experimentally evaluated. Then the governing equation of motion for the full-vehicle model is established and integrated with the MR shock absorber. Subsequently, optimal controller with preview control algorithm is formulated and implemented for vibration suppression of the car body. Control performance of the preview controller is evaluated for the full-vehicle model under random road condition. In addition, the control performances depending on preview distances are evaluated.

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

    International Nuclear Information System (INIS)

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

    2009-01-01

    This paper presents control performance evaluation of optimal preview control algorithm for vehicle suspension featuring MR shock absorber. The optimal preview control algorithm has several advantages such as high control performance over that which is best for a non-preview system. In order to achieve this goal, a commercial MR shock absorber, Delphi MganerideTM, which is applicable to high class passenger vehicle, is adopted and its field-dependent damping force and dynamic responses are experimentally evaluated. Then the governing equation of motion for the full-vehicle model is established and integrated with the MR shock absorber. Subsequently, optimal controller with preview control algorithm is formulated and implemented for vibration suppression of the car body. Control performance of the preview controller is evaluated for the full-vehicle model under random road condition. In addition, the control performances depending on preview distances are evaluated.

  19. Traffic Information Unit, Traffic Information System, Vehicle Management System, Vehicle, and Method of Controlling a Vehicle

    NARCIS (Netherlands)

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

    2010-01-01

    A traffic information unit (MD1, MD2, MD3) according to the invention comprises a facility (MI) for tracking vehicle state information of individual vehicles present at a traffic infrastructure and a facility (T) for transmitting said vehicle state information to a vehicle (70B, 70E). A traffic

  20. Advanced Control System Design for Hypersonic Vehicles, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Guidance and control system design for hypersonic vehicles is more challenging than their subsonic and supersonic counterparts. Some of these challenges are (i)...

  1. Control system and method for a hybrid electric vehicle

    Science.gov (United States)

    Tamor, Michael Alan

    2001-03-06

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

  2. A PEMFC hybrid electric vehicle real time control system

    Science.gov (United States)

    Sun, Hongqiao

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

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

    Science.gov (United States)

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

    2011-01-01

    A launch vehicle represents a complicated flex-body structural environment for flight control system design. The Ascent-vehicle Stability Analysis Tool (ASAT) is developed to address the complicity in design and analysis of a launch vehicle. The design objective for the flight control system of a launch vehicle is to best follow guidance commands while robustly maintaining system stability. A constrained optimization approach takes the advantage of modern computational control techniques to simultaneously design multiple control systems in compliance with required design specs. "Tower Clearance" and "Load Relief" designs have been achieved for liftoff and max dynamic pressure flight regions, respectively, in the presence of large wind disturbances. The robustness of the flight control system designs has been verified in the frequency domain Monte Carlo analysis using ASAT.

  4. Vehicle Controller

    Science.gov (United States)

    1985-01-01

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

  5. Optimal Vibration Control for Tracked Vehicle Suspension Systems

    Directory of Open Access Journals (Sweden)

    Yan-Jun Liang

    2013-01-01

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

  6. Vehicle rollover risk and electronic stability control systems.

    Science.gov (United States)

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

    2008-06-01

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

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

    CERN Document Server

    From, Pal Johan; Pettersen, Kristin Ytterstad

    2014-01-01

    Furthering the aim of reducing human exposure to hazardous environments, this monograph presents a detailed study of the modeling and control of vehicle-manipulator systems. The text shows how complex interactions can be performed at remote locations using systems that combine the manipulability of robotic manipulators with the ability of mobile robots to locomote over large areas.  The first part studies the kinematics and dynamics of rigid bodies and standard robotic manipulators and can be used as an introduction to robotics focussing on robust mathematical modeling. The monograph then moves on to study vehicle-manipulator systems in great detail with emphasis on combining two different configuration spaces in a mathematically sound way. Robustness of these systems is extremely important and Modeling and Control of Vehicle-manipulator Systems effectively represents the dynamic equations using a mathematically robust framework. Several tools from Lie theory and differential geometry are used to obtain glob...

  8. NOISE CONTROL OF VEHICLE DRIVE SYSTEMS

    Directory of Open Access Journals (Sweden)

    Ulrich Gabbert

    2017-08-01

    Full Text Available The paper presents an overall simulation approach to control the noise emission of car engines at a very early stage of the design process where no real prototypes are available. The suggested approach combines different physical models and couples different software tools such as multi-body analysis, fluid dynamics, structural mechanics, magneto-electrodynamics, thermodynamics, acoustics and control as well. The general overall simulation methodology is presented first. Then, this methodology is applied to a combustion engine in order to improve its acoustical behavior by passive means, such as changing the stiffness and the use of damping materials to build acoustic and thermal encapsulations. The active control by applying piezoelectric patch actuators at the oil sump as the noisiest part of the engine is discussed as well. The sound emission is evaluated by hearing tests and a mathematical prediction model of the human perception. Finally, it is shown that the presented approach can be extended to electric engines, which is demonstrated at a newly developed electric wheel hub motor.

  9. Synthesis of the unmanned aerial vehicle remote control augmentation system

    International Nuclear Information System (INIS)

    Tomczyk, Andrzej

    2014-01-01

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

  10. Synthesis of the unmanned aerial vehicle remote control augmentation system

    Energy Technology Data Exchange (ETDEWEB)

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

    2014-12-10

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

  11. Development of Fuzzy Logic Control for Vehicle Air Conditioning System

    Directory of Open Access Journals (Sweden)

    Henry Nasution

    2008-08-01

    Full Text Available A vehicle air conditioning system is experimentally investigated. Measurements were taken during the experimental period at a time interval of one minute for a set point temperature of 22, 23 and 24oC with internal heat loads of 0, 1 and 2 kW. The cabin temperature and the speed of the compressor were varied and the performance of the system, energy consumption and energy saving ware analyzed. The main objective of the experimental work is to evaluate the energy saving obtained when the fuzzy logic control (FLC algorithm, through an inverter, continuously regulates the compressor speed. It demonstrates better control of the compressor operation in terms of energy consumption as compared to the control by using a thermostat imposing On/Off cycles on the compressor at the nominal frequency of 50 Hz. The experimental set-up consists of original components from the air conditioning system of a compact passenger vehicle. The experimental results indicate that the proposed technique can save energy and improve indoor comfort significantly for vehicle air conditioning systems compared to the conventional (On/Off control technique.

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

    OpenAIRE

    Le-Anh, Tuan; Koster, René

    2004-01-01

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

  13. Optimization and Control of Cyber-Physical Vehicle Systems

    Directory of Open Access Journals (Sweden)

    Justin M. Bradley

    2015-09-01

    Full Text Available A cyber-physical system (CPS is composed of tightly-integrated computation, communication and physical elements. Medical devices, buildings, mobile devices, robots, transportation and energy systems can benefit from CPS co-design and optimization techniques. Cyber-physical vehicle systems (CPVSs are rapidly advancing due to progress in real-time computing, control and artificial intelligence. Multidisciplinary or multi-objective design optimization maximizes CPS efficiency, capability and safety, while online regulation enables the vehicle to be responsive to disturbances, modeling errors and uncertainties. CPVS optimization occurs at design-time and at run-time. This paper surveys the run-time cooperative optimization or co-optimization of cyber and physical systems, which have historically been considered separately. A run-time CPVS is also cooperatively regulated or co-regulated when cyber and physical resources are utilized in a manner that is responsive to both cyber and physical system requirements. This paper surveys research that considers both cyber and physical resources in co-optimization and co-regulation schemes with applications to mobile robotic and vehicle systems. Time-varying sampling patterns, sensor scheduling, anytime control, feedback scheduling, task and motion planning and resource sharing are examined.

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

    Science.gov (United States)

    Bradley, Justin M; Atkins, Ella M

    2015-09-11

    A cyber-physical system (CPS) is composed of tightly-integrated computation, communication and physical elements. Medical devices, buildings, mobile devices, robots, transportation and energy systems can benefit from CPS co-design and optimization techniques. Cyber-physical vehicle systems (CPVSs) are rapidly advancing due to progress in real-time computing, control and artificial intelligence. Multidisciplinary or multi-objective design optimization maximizes CPS efficiency, capability and safety, while online regulation enables the vehicle to be responsive to disturbances, modeling errors and uncertainties. CPVS optimization occurs at design-time and at run-time. This paper surveys the run-time cooperative optimization or co-optimization of cyber and physical systems, which have historically been considered separately. A run-time CPVS is also cooperatively regulated or co-regulated when cyber and physical resources are utilized in a manner that is responsive to both cyber and physical system requirements. This paper surveys research that considers both cyber and physical resources in co-optimization and co-regulation schemes with applications to mobile robotic and vehicle systems. Time-varying sampling patterns, sensor scheduling, anytime control, feedback scheduling, task and motion planning and resource sharing are examined.

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

    Directory of Open Access Journals (Sweden)

    M. Boukhnifer

    2012-11-01

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

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

    NARCIS (Netherlands)

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

    2004-01-01

    textabstractThis paper presents a review on design and control of automated guided vehicle systems. We address most key related issues including guide-path design, estimating the number of vehicles, vehicle scheduling, idle-vehicle positioning, battery management, vehicle routing, and conflict

  17. Concept development of control system for perspective unmanned aerial vehicles

    Directory of Open Access Journals (Sweden)

    Koryanov Vsevolod V.

    2018-01-01

    Full Text Available Presented actual aspects of the development of the control system of unmanned aerial vehicles (UAVs in the example of perspective. Because the current and future UAV oriented to implementation of a wide range of tasks, taking into account the use of several types of payload, in this paper discusses the general principles of construction of onboard control complex, in turn, a hardware implementation of the automatic control system has been implemented in the microcontroller Arduino platform and the Raspberry Pi. In addition, in the paper presents the most common and promising way to ensure the smooth and reliable communication of the command post with the UAV as well as to the ways of parry considered and abnormal situations.

  18. Supercavitating Vehicle Control

    Science.gov (United States)

    2008-10-10

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

  19. Vehicle Dynamics and Control

    CERN Document Server

    Rajamani, Rajesh

    2012-01-01

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

  20. Semi-autonomous unmanned ground vehicle control system

    Science.gov (United States)

    Anderson, Jonathan; Lee, Dah-Jye; Schoenberger, Robert; Wei, Zhaoyi; Archibald, James

    2006-05-01

    Unmanned Ground Vehicles (UGVs) have advantages over people in a number of different applications, ranging from sentry duty, scouting hazardous areas, convoying goods and supplies over long distances, and exploring caves and tunnels. Despite recent advances in electronics, vision, artificial intelligence, and control technologies, fully autonomous UGVs are still far from being a reality. Currently, most UGVs are fielded using tele-operation with a human in the control loop. Using tele-operations, a user controls the UGV from the relative safety and comfort of a control station and sends commands to the UGV remotely. It is difficult for the user to issue higher level commands such as patrol this corridor or move to this position while avoiding obstacles. As computer vision algorithms are implemented in hardware, the UGV can easily become partially autonomous. As Field Programmable Gate Arrays (FPGAs) become larger and more powerful, vision algorithms can run at frame rate. With the rapid development of CMOS imagers for consumer electronics, frame rate can reach as high as 200 frames per second with a small size of the region of interest. This increase in the speed of vision algorithm processing allows the UGVs to become more autonomous, as they are able to recognize and avoid obstacles in their path, track targets, or move to a recognized area. The user is able to focus on giving broad supervisory commands and goals to the UGVs, allowing the user to control multiple UGVs at once while still maintaining the convenience of working from a central base station. In this paper, we will describe a novel control system for the control of semi-autonomous UGVs. This control system combines a user interface similar to a simple tele-operation station along with a control package, including the FPGA and multiple cameras. The control package interfaces with the UGV and provides the necessary control to guide the UGV.

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

    Science.gov (United States)

    2011-01-01

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

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

    Science.gov (United States)

    Cikanek, Susan R.

    1994-01-01

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

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

    Science.gov (United States)

    Cikanek, S.R.

    1994-10-25

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

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

    Directory of Open Access Journals (Sweden)

    Zeeshan Ali Memon

    2012-07-01

    Full Text Available Automotive vehicle following systems are essential for the design of automated highway system. The problem associated with the automatic vehicle following system is the string stability of the platoon of vehicles, i.e. the problem of uniform velocity and spacing errors propagation. Different control algorithm for the longitudinal control of a platoon are discussed based on different spacing policies, communication link among the vehicles of a platoon, and the performance of a platoon have been analysed in the presence of disturbance (noise and parametric uncertainties. This paper presented the PID (Proportional Integral Derivative feedback control algorithm for the longitudinal control of a platoon in the presence of noise signal and investigates the performance of platoon under the influence of sudden acceleration and braking in severe conditions. This model has been applied on 6 vehicles moving in a platoon. The platoon has been analysed to retain the uniform velocity and safe spacing among the vehicles. The limitations of PID control algorithm have been discussed and the alternate methods have been suggested. Model simulations, in comparison with the literature, are also presented.

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

    Directory of Open Access Journals (Sweden)

    Nenglian Feng

    2013-01-01

    Full Text Available This paper presents a collaborative control system for an electric vehicle chassis based on a centralized and hierarchical control architecture. The centralized controller was designed for the suspension and steering system, which is used for improving ride comfort and handling stability; the hierarchical controller was designed for the braking system, which is used for distributing the proportion of hydraulic braking and regenerative braking to improve braking performance. These two sub-controllers function at the same level of the vehicle chassis control system. In order to reduce the potential conflict between the two sub-controllers and realize a coordination optimization of electric vehicle performance, a collaborative controller was built, which serves as the upper controller to carry out an overall coordination analysis according to vehicle signals and revises the decisions of sub-controllers. A simulation experiment was carried out with the MATLAB/Simulink software. The simulation results show that the proposed collaborative control system can achieve an optimized vehicle handling stability and braking safety.

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

    International Nuclear Information System (INIS)

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

    2012-01-01

    Vehicle Air Conditioning (AC) systems consist of an engine powered compressor activated by an electrical clutch. The AC system imposes an extra load to the vehicle's engine increasing the vehicle fuel consumption and emissions. Energy management control of the vehicle air conditioning is a nonlinear dynamic system, influenced by uncertain disturbances. In addition, the vehicle energy management control system interacts with different complex systems, such as engine, air conditioning system, environment, and driver, to deliver fuel consumption improvements. In this paper, we describe the energy management control of vehicle AC system coupled with vehicle engine through an intelligent control design. The Intelligent Energy Management Control (IEMC) system presented in this paper includes an intelligent algorithm which uses five exterior units and three integrated fuzzy controllers to produce desirable internal temperature and air quality, improved fuel consumption, low emission, and smooth driving. The three fuzzy controllers include: (i) a fuzzy cruise controller to adapt vehicle cruise speed via prediction of the road ahead using a Look-Ahead system, (ii) a fuzzy air conditioning controller to produce desirable temperature and air quality inside vehicle cabin room via a road information system, and (iii) a fuzzy engine controller to generate the required engine torque to move the vehicle smoothly on the road. We optimised the integrated operation of the air conditioning and the engine under various driving patterns and performed three simulations. Results show that the proposed IEMC system developed based on Fuzzy Air Conditioning Controller with Look-Ahead (FAC-LA) method is a more efficient controller for vehicle air conditioning system than the previously developed Coordinated Energy Management Systems (CEMS). - Highlights: ► AC interacts: vehicle, environment, driver components, and the interrelationships between them. ► Intelligent AC algorithm which uses

  7. Analysis and Design of Launch Vehicle Flight Control Systems

    Science.gov (United States)

    Wie, Bong; Du, Wei; Whorton, Mark

    2008-01-01

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

  8. Dynamic flow control strategies of vehicle SCR Urea Dosing System

    Science.gov (United States)

    Lin, Wei; Zhang, Youtong; Asif, Malik

    2015-03-01

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

  9. Load calculation and system evaluation for electric vehicle climate control

    International Nuclear Information System (INIS)

    Aceves-Saborio, S.; Comfort, W.J.

    1994-01-01

    Providing air conditioning for electric vehicles (EV's) represents an important challenge, because vapor-compression air conditioners, which are common in gasoline-powered vehicles, may consume a substantial part of the total energy stored in the EV battery. The authors' work has two major parts: a cooling and heating load calculation for EV's, and an evaluation of several systems that can be used to provide the desired cooling and heating in EV's. Four cases are studied: short-range and full-range EV's are each analyzed twice, first with the regular vehicle equipment, and then with a fan and heat-reflecting windows, to reduce hot soak. Results indicate that for the batteries currently available for EV propulsion, an ice storage system has the minimum weight of all the systems considered. Vapor-compression air conditioners have the minimum for battery storage capacities above 270 kJ/kg

  10. Computational Modeling of Flow Control Systems for Aerospace Vehicles, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Clear Science Corp. proposes to develop computational methods for designing active flow control systems on aerospace vehicles with the primary objective of...

  11. Traffic control and intelligent vehicle highway systems: a survey

    NARCIS (Netherlands)

    Baskar, L.D.; Schutter, B. de; Hellendoorn, J.; Papp, Z.

    2011-01-01

    Traffic congestion in highway networks is one of the main issues to be addressed by today's traffic management schemes. Automation combined with the increasing market penetration of on-line communication, navigation and advanced driver assistance systems will ultimately result in intelligent vehicle

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

    Science.gov (United States)

    Kenyon, Chase H.

    1995-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Aref M.A. Soliman

    2012-04-01

    Full Text Available Nowadays, most modern vehicles are equipped with controlled suspension systems for improving the vehicle ride comfort. Therefore, this paper is concerned with a theoretical study for the ride comfort performance of the vehicle. The theoretical investigation includes a suggestion of an active suspension system controller using fuzzy-skyhook control theory, which offers new opportunities for the improvement of vehicle ride performance. The ride comfort of the active suspension system has been evaluated using a 7 degree of freedom full vehicle mathematical model. The simulation results are presented in the time and frequency domain, also in terms of RMS values, and it’s shown that the proposed active suspension system with fuzzy-skyhook control improved the vehicle ride quality in terms of body acceleration, suspension working space and dynamic tyre load in comparison with the passive and skyhook suspension systems.

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

    Directory of Open Access Journals (Sweden)

    Swarup Suresh Kulkarni

    2017-07-01

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

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

    NARCIS (Netherlands)

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

    2014-01-01

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

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

    Science.gov (United States)

    Hamada, Yuji; Sawa, Yoshitsugu; Goto, Yukio; Kumazawa, Hiroyuki

    In ad-hoc network such as inter-vehicle communication (IVC) system, safety applications that vehicles broadcast the information such as car velocity, position and so on periodically are considered. In these applications, if there are many vehicles broadcast data in a communication area, congestion incurs a problem decreasing communication reliability. We propose autonomous distributed transmit power control method to keep high communication reliability. In this method, each vehicle controls its transmit power using feed back control. Furthermore, we design a communication protocol to realize the proposed method, and we evaluate the effectiveness of proposed method using computer simulation.

  17. 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.

  18. Mars Ascent Vehicle Reaction Control System, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — During this Phase I NASA program, Valley Tech Systems (VTS) will develop an innovative solid Reaction Control System (RCS) architecture concept design that can...

  19. High voltage bus and auxiliary heater control system for an electric or hybrid vehicle

    Science.gov (United States)

    Murty, Balarama Vempaty

    2000-01-01

    A control system for an electric or hybrid electric vehicle includes a vehicle system controller and a control circuit having an electric immersion heater. The heater is electrically connected to the vehicle's high voltage bus and is thermally coupled to a coolant loop containing a heater core for the vehicle's climate control system. The system controller responds to cabin heat requests from the climate control system by generating a pulse width modulated signal that is used by the control circuit to operate the heater at a duty cycle appropriate for the amount of cabin heating requested. The control system also uses the heater to dissipate excess energy produced by an auxiliary power unit and to provide electric braking when regenerative braking is not desirable and manual braking is not necessary. The control system further utilizes the heater to provide a safe discharge of a bank of energy storage capacitors following disconnection of the battery or one of the high voltage connectors used to transmit high voltage operating power to the various vehicle systems. The control circuit includes a high voltage clamping circuit that monitors the voltage on the bus and operates the heater to clamp down the bus voltage when it exceeds a pre-selected maximum voltage. The control system can also be used to phase in operation of the heater when the bus voltage exceeds a lower threshold voltage and can be used to phase out the auxiliary power unit charging and regenerative braking when the battery becomes fully charged.

  20. 77 FR 22637 - Federal Motor Vehicle Safety Standards; Accelerator Control Systems

    Science.gov (United States)

    2012-04-16

    ... revise the Federal Motor Vehicle Safety Standard for accelerator control systems (ACS) in two ways. First... Standard (FMVSS) No. 124, Accelerator Control Systems,\\2\\ in two ways. First, we are proposing to update... February 2011 final report ``Technical Assessment of Toyota Electronic Throttle Control Systems,'' the...

  1. Initial Stage Reference Search : Driver Simulators to Test Shared Controls, Limited Autonomy Vehicle Systems

    Science.gov (United States)

    2015-09-01

    This literature review and reference scanning focuses on the use of driver simulators for semiautonomous (or shared control) vehicle systems (2012present), including related research from other modes of transportation (e.g., rail or aviation). Foc...

  2. PREDICTION OF DISTURBANCES IN VEHICLE CONTROL SYSTEMS BASED ON THE METHODS OF COMPUTATIONAL INTELLIGENCE

    Directory of Open Access Journals (Sweden)

    L. Lyubchik

    2009-01-01

    Full Text Available The problem of disturbances forecasting in vehicles control systems is considered in the given article. On the basis of nuclear campaign recurrence there have been obtained algorithms of identification and prediction of disturbances time series.

  3. Electric vehicle battery charging controller

    DEFF Research Database (Denmark)

    2016-01-01

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

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

    Directory of Open Access Journals (Sweden)

    2011-09-01

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

  5. Research prototype of remote controlled engineering vehicle system for CBRN threat. Phase 2

    International Nuclear Information System (INIS)

    Uemura, Keisuke; Naruse, Masahiro; Shigematsu, Kosuke; Morishita, Masahiro

    2015-01-01

    This research was triggered by the nuclear accident that successively happened after the Great East Japan Earthquake. The project focuses on the Remote Controlled Engineering Vehicle System that can be used for multi purposes such as debris/obstacle clearing operation, various reconnaissance operation, under CBRN threat. In this report, we describe research prototype of remote controlled engineering vehicle system for CBRN threat (phase 2). (author)

  6. Method for controlling exhaust gas heat recovery systems in vehicles

    Science.gov (United States)

    Spohn, Brian L.; Claypole, George M.; Starr, Richard D

    2013-06-11

    A method of operating a vehicle including an engine, a transmission, an exhaust gas heat recovery (EGHR) heat exchanger, and an oil-to-water heat exchanger providing selective heat-exchange communication between the engine and transmission. The method includes controlling a two-way valve, which is configured to be set to one of an engine position and a transmission position. The engine position allows heat-exchange communication between the EGHR heat exchanger and the engine, but does not allow heat-exchange communication between the EGHR heat exchanger and the oil-to-water heat exchanger. The transmission position allows heat-exchange communication between the EGHR heat exchanger, the oil-to-water heat exchanger, and the engine. The method also includes monitoring an ambient air temperature and comparing the monitored ambient air temperature to a predetermined cold ambient temperature. If the monitored ambient air temperature is greater than the predetermined cold ambient temperature, the two-way valve is set to the transmission position.

  7. Decoupling control of vehicle chassis system based on neural network inverse system

    Science.gov (United States)

    Wang, Chunyan; Zhao, Wanzhong; Luan, Zhongkai; Gao, Qi; Deng, Ke

    2018-06-01

    Steering and suspension are two important subsystems affecting the handling stability and riding comfort of the chassis system. In order to avoid the interference and coupling of the control channels between active front steering (AFS) and active suspension subsystems (ASS), this paper presents a composite decoupling control method, which consists of a neural network inverse system and a robust controller. The neural network inverse system is composed of a static neural network with several integrators and state feedback of the original chassis system to approach the inverse system of the nonlinear systems. The existence of the inverse system for the chassis system is proved by the reversibility derivation of Interactor algorithm. The robust controller is based on the internal model control (IMC), which is designed to improve the robustness and anti-interference of the decoupled system by adding a pre-compensation controller to the pseudo linear system. The results of the simulation and vehicle test show that the proposed decoupling controller has excellent decoupling performance, which can transform the multivariable system into a number of single input and single output systems, and eliminate the mutual influence and interference. Furthermore, it has satisfactory tracking capability and robust performance, which can improve the comprehensive performance of the chassis system.

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

    International Nuclear Information System (INIS)

    Sun Hui; Yang Lifu; Jing Junqing; Luo Yanling

    2011-01-01

    Energy consumption and exhaust emissions of hybrid vehicles strongly depend on the energy storage source and the applied control strategy. Heavy vehicles have the characteristics of frequent starts/stops and significant amounts of braking energy, which needs to find a more efficient way to store and use the high power flow. A novel parallel hybrid vehicles configuration consisting of hydraulic/electric synergy system is proposed to overcome the existing drawbacks of single energy storage source in heavy hybrid vehicles. A control strategy combining a logic threshold approach and key parameters optimization algorithm is developed to achieve acceptable vehicle performance while simultaneously maximizing engine fuel economy and maintaining the battery state of charge in its rational operation range at all times. The experimental and simulation results illustrate the potential of the proposed control strategy in terms of fuel economy and in keeping the deviations of SOC at high efficiency range.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2011-01-15

    Energy consumption and exhaust emissions of hybrid vehicles strongly depend on the energy storage source and the applied control strategy. Heavy vehicles have the characteristics of frequent starts/stops and significant amounts of braking energy, which needs to find a more efficient way to store and use the high power flow. A novel parallel hybrid vehicles configuration consisting of hydraulic/electric synergy system is proposed to overcome the existing drawbacks of single energy storage source in heavy hybrid vehicles. A control strategy combining a logic threshold approach and key parameters optimization algorithm is developed to achieve acceptable vehicle performance while simultaneously maximizing engine fuel economy and maintaining the battery state of charge in its rational operation range at all times. The experimental and simulation results illustrate the potential of the proposed control strategy in terms of fuel economy and in keeping the deviations of SOC at high efficiency range. (author)

  10. Holarchical Systems and Emotional Holons : Biologically-Inspired System Designs for Control of Autonomous Aerial Vehicles

    Science.gov (United States)

    Ippolito, Corey; Plice, Laura; Pisanich, Greg

    2003-01-01

    The BEES (Bio-inspired Engineering for Exploration Systems) for Mars project at NASA Ames Research Center has the goal of developing bio-inspired flight control strategies to enable aerial explorers for Mars scientific investigations. This paper presents a summary of our ongoing research into biologically inspired system designs for control of unmanned autonomous aerial vehicle communities for Mars exploration. First, we present cooperative design considerations for robotic explorers based on the holarchical nature of biological systems and communities. Second, an outline of an architecture for cognitive decision making and control of individual robotic explorers is presented, modeled after the emotional nervous system of cognitive biological systems. Keywords: Holarchy, Biologically Inspired, Emotional UAV Flight Control

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

    CERN Document Server

    Böhme, Thomas J

    2017-01-01

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

  12. Preview based control of suspension systems for commercial vehicles

    NARCIS (Netherlands)

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

    1999-01-01

    An active suspension with preview is developed for the rear axle of a commercial vehicle. The obtained improvements are promising and justify further investigation of the more feasible semi-active suspensions with preview. The inherent non-linearity of semi-active suspensions with switching shock

  13. Design and control of automated guided vehicle systems: A case study

    NARCIS (Netherlands)

    Li, Q.; Adriaansen, A.C.; Udding, J.T.; Pogromski, A.Y.

    2011-01-01

    In this paper, we study the design and control of automated guided vehicle (AGV) systems, with the focus on the quayside container transport in an automated container terminal. We first set up an event-driven model for an AGV system in the zone control framework. Then a number of layouts of the road

  14. 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.

  15. Machine & electrical double control air dryer for vehicle air braking system

    Science.gov (United States)

    Zhang, Xuan; Yang, Liu; Wang, Xian Yan; Tan, Xiao Yan; Wang, Wei

    2017-09-01

    As is known to all, a vehicle air brake system, in which usually contains moisture. To solve the problem, it is common to use air dryer to dry compressed air effectively and completely remove the moisture and oil of braking system. However, the existing air dryer is not suitable for all commercial vehicles. According to the operational status of the new energy vehicles in the initial operating period, the structure design principle of the machine & electric control air dryer is expounded from the aspects of the structure and operating principle, research & development process.

  16. Hierarchical Control Strategy for the Cooperative Braking System of Electric Vehicle

    OpenAIRE

    Peng, Jiankun; He, Hongwen; Liu, Wei; Guo, Hongqiang

    2015-01-01

    This paper provides a hierarchical control strategy for cooperative braking system of an electric vehicle with separated driven axles. Two layers are defined: the top layer is used to optimize the braking stability based on two sliding mode control strategies, namely, the interaxle control mode and signal-axle control strategies; the interaxle control strategy generates the ideal braking force distribution in general braking condition, and the single-axle control strategy can ensure braking s...

  17. Preventing Distribution Grid Congestion by Integrating Indirect Control in a Hierarchical Electric Vehicles Management System

    DEFF Research Database (Denmark)

    Hu, Junjie; Si, Chengyong; Lind, Morten

    2016-01-01

    In this paper, a hierarchical management system is proposed to integrate electric vehicles (EVs) into a distribution grid. Three types of actors are included in the system: Distribution system operators (DSOs), Fleet operators (FOs) and EV owners. In contrast to a typical hierarchical control sys...

  18. A semi-active control suspension system for railway vehicles with magnetorheological fluid dampers

    Science.gov (United States)

    Wei, Xiukun; Zhu, Ming; Jia, Limin

    2016-07-01

    The high-speed train has achieved great progress in the last decades. It is one of the most important modes of transportation between cities. With the rapid development of the high-speed train, its safety issue is paid much more attention than ever before. To improve the stability of the vehicle with high speed, extra dampers (i.e. anti-hunting damper) are used in the traditional bogies with passive suspension system. However, the curving performance of the vehicle is undermined due to the extra lateral force generated by the dampers. The active suspension systems proposed in the last decades attempt to solve the vehicle steering issue. However, the active suspension systems need extra actuators driven by electrical power or hydraulic power. There are some implementation and even safety issues which are not easy to be overcome. In this paper, an innovative semi-active controlled lateral suspension system for railway vehicles is proposed. Four magnetorheological fluid dampers are fixed to the primary suspension system of each bogie. They are controlled by online controllers for enhancing the running stability on the straight track line on the one hand and further improving the curving performance by controlling the damper force on the other hand. Two control strategies are proposed in the light of the pure rolling concept. The effectiveness of the proposed strategies is demonstrated by SIMPACK and Matlab co-simulation for a full railway vehicle with two conventional bogies.

  19. DESIGN AN INTELLIGENT CONTROLLER FOR FULL VEHICLE NONLINEAR ACTIVE SUSPENSION SYSTEMS

    OpenAIRE

    Aldair, A. A.; Wang, W. J.

    2011-01-01

    The main objective of designed the controller for a vehicle suspension system is to reduce the discomfort sensed by passengers which arises from road roughness and to increase the ride handling associated with the pitching and rolling movements. This necessitates a very fast and accurate controller to meet as much control objectives, as possible. Therefore, this paper deals with an artificial intelligence Neuro-Fuzzy (NF) technique to design a robust controller to meet the control objectives....

  20. Neural control systems for alternatively fuelled vehicles and natural gas fuel injection for DACIA NOVA

    Energy Technology Data Exchange (ETDEWEB)

    Sulatisky, M. [Saskatchewan Research Council, Saskatoon, SK (Canada); Ghelesel, A. [BC Gas International, Vancouver, BC (Canada)

    1999-07-01

    The elements of natural gas vehicle conversion technology are described as background to a discussion of the development of bi-fuel injection system for the Rumanian-manufactured DACIA-NOVA automobile. The bi-fuel injection system mirrors the fueling system installed by the original equipment manufacturer; it can also be easily installed on Ford, General Motors and DaimlerChrysler vehicles as well as on most imports.To meet emission standards after 2000, it is envisaged to install on the DACIA NOVA a neural control system (NCS) and a completely adaptive linear control system (ACLS). Details of natural gas vehicles development and the development of NCS and ACLS are discussed, including short-term and long-term objectives.

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

    Science.gov (United States)

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

    2017-12-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1996-11-01

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

  3. Modeling and Nonlinear Control of Fuel Cell / Supercapacitor Hybrid Energy Storage System for Electric Vehicles

    DEFF Research Database (Denmark)

    El Fadil, Hassan; Giri, Fouad; Guerrero, Josep M.

    2014-01-01

    This paper deals with the problem of controlling hybrid energy storage system (HESS) for electric vehicle. The storage system consists of a fuel cell (FC), serving as the main power source, and a supercapacitor (SC), serving as an auxiliary power source. It also contains a power block for energy...

  4. Lyapunov based control of hybrid energy storage system in electric vehicles

    DEFF Research Database (Denmark)

    El Fadil, H.; Giri, F.; Guerrero, Josep M.

    2012-01-01

    This paper deals with a Lyapunov based control principle in a hybrid energy storage system for electric vehicle. The storage system consists on fuel cell (FC) as a main power source and a supercapacitor (SC) as an auxiliary power source. The power stage of energy conversion consists on a boost...

  5. NASA Ares I Launch Vehicle Roll and Reaction Control Systems Design Status

    Science.gov (United States)

    Butt, Adam; Popp, Chris G.; Pitts, Hank M.; Sharp, David J.

    2009-01-01

    This paper provides an update of design status following the preliminary design review of NASA s Ares I first stage roll and upper stage reaction control systems. The Ares I launch vehicle has been chosen to return humans to the moon, mars, and beyond. It consists of a first stage five segment solid rocket booster and an upper stage liquid bi-propellant J-2X engine. Similar to many launch vehicles, the Ares I has reaction control systems used to provide the vehicle with three degrees of freedom stabilization during the mission. During launch, the first stage roll control system will provide the Ares I with the ability to counteract induced roll torque. After first stage booster separation, the upper stage reaction control system will provide the upper stage element with three degrees of freedom control as needed. Trade studies and design assessments conducted on the roll and reaction control systems include: propellant selection, thruster arrangement, pressurization system configuration, and system component trades. Since successful completion of the preliminary design review, work has progressed towards the critical design review with accomplishments made in the following areas: pressurant / propellant tank, thruster assembly, and other component configurations, as well as thruster module design, and waterhammer mitigation approach. Also, results from early development testing are discussed along with plans for upcoming system testing. This paper concludes by summarizing the process of down selecting to the current baseline configuration for the Ares I roll and reaction control systems.

  6. Control of Electric Vehicle

    OpenAIRE

    Huang, Qi; Chen, Yong; Li, Jian

    2010-01-01

    In this chapter, the modeling of electric vehicle is discussed in detail. Then, the control of electric vehicle driven by different motors is discussed. Both brushed and brushless DC (Direct Current) motors are discussed. And for AC (Alternative Current) motors, the discussion is focused on induction motor and permanent magnet synchronous motor. The design of controllers for different motor-driven electric vehicle is discussed in-depth, and the tested high-performance control strategies for d...

  7. SMART VIDEO SURVEILLANCE SYSTEM FOR VEHICLE DETECTION AND TRAFFIC FLOW CONTROL

    Directory of Open Access Journals (Sweden)

    A. A. SHAFIE

    2011-08-01

    Full Text Available Traffic signal light can be optimized using vehicle flow statistics obtained by Smart Video Surveillance Software (SVSS. This research focuses on efficient traffic control system by detecting and counting the vehicle numbers at various times and locations. At present, one of the biggest problems in the main city in any country is the traffic jam during office hour and office break hour. Sometimes it can be seen that the traffic signal green light is still ON even though there is no vehicle coming. Similarly, it is also observed that long queues of vehicles are waiting even though the road is empty due to traffic signal light selection without proper investigation on vehicle flow. This can be handled by adjusting the vehicle passing time implementing by our developed SVSS. A number of experiment results of vehicle flows are discussed in this research graphically in order to test the feasibility of the developed system. Finally, adoptive background model is proposed in SVSS in order to successfully detect target objects such as motor bike, car, bus, etc.

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

    National Research Council Canada - National Science Library

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

    2007-01-01

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

  9. Space Vehicle Valve System

    Science.gov (United States)

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

    2014-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2002-07-01

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

  11. Optimal vehicle control

    NARCIS (Netherlands)

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

    2013-01-01

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

  12. A Control Algorithm for Electric Vehicle Fast Charging Stations Equipped with Flywheel Energy Storage Systems

    DEFF Research Database (Denmark)

    Sun, Bo; Dragicevic, Tomislav; Freijedo Fernandez, Francisco Daniel

    2016-01-01

    This paper proposes a control strategy for plugin electric vehicle (PEV) fast charging station (FCS) equipped with a flywheel energy storage system (FESS). The main role of the FESS is not to compromise the predefined charging profile of PEV battery during the provision of a hysteresis-type active...

  13. Two-Level Control for Fast Electrical Vehicle Charging Stations with Multi Flywheel Energy Storage System

    DEFF Research Database (Denmark)

    SUN, BO; Dragicevic, Tomislav; Vasquez, Juan Carlos

    2015-01-01

    This paper applies a hierarchical control for a fast charging station (FCS) composed of paralleled PWM rectifier and dedicated paralleled multiple flywheel energy storage systems (FESSs), in order to mitigate peak power shock on grid caused by sudden connection of electrical vehicle (EV) chargers...

  14. Hierarchical Control Strategy for the Cooperative Braking System of Electric Vehicle.

    Science.gov (United States)

    Peng, Jiankun; He, Hongwen; Liu, Wei; Guo, Hongqiang

    2015-01-01

    This paper provides a hierarchical control strategy for cooperative braking system of an electric vehicle with separated driven axles. Two layers are defined: the top layer is used to optimize the braking stability based on two sliding mode control strategies, namely, the interaxle control mode and signal-axle control strategies; the interaxle control strategy generates the ideal braking force distribution in general braking condition, and the single-axle control strategy can ensure braking safety in emergency braking condition; the bottom layer is used to maximize the regenerative braking energy recovery efficiency with a reallocated braking torque strategy; the reallocated braking torque strategy can recovery braking energy as much as possible in the premise of meeting battery charging power. The simulation results show that the proposed hierarchical control strategy is reasonable and can adapt to different typical road surfaces and load cases; the vehicle braking stability and safety can be guaranteed; furthermore, the regenerative braking energy recovery efficiency can be improved.

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

    Directory of Open Access Journals (Sweden)

    Pan Zhao

    2012-07-01

    Full Text Available The autonomous vehicle is a mobile robot integrating multi-sensor navigation and positioning, intelligent decision making and control technology. This paper presents the control system architecture of the autonomous vehicle, called “Intelligent Pioneer”, and the path tracking and stability of motion to effectively navigate in unknown environments is discussed. In this approach, a two degree-of-freedom dynamic model is developed to formulate the path-tracking problem in state space format. For controlling the instantaneous path error, traditional controllers have difficulty in guaranteeing performance and stability over a wide range of parameter changes and disturbances. Therefore, a newly developed adaptive-PID controller will be used. By using this approach the flexibility of the vehicle control system will be increased and achieving great advantages. Throughout, we provide examples and results from Intelligent Pioneer and the autonomous vehicle using this approach competed in the 2010 and 2011 Future Challenge of China. Intelligent Pioneer finished all of the competition programmes and won first position in 2010 and third position in 2011.

  16. Method and system for control of upstream flowfields of vehicle in supersonic or hypersonic atmospheric flight

    Science.gov (United States)

    Daso, Endwell O. (Inventor); Pritchett, II, Victor E. (Inventor); Wang, Ten-See (Inventor); Farr, Rebecca Ann (Inventor)

    2012-01-01

    The upstream flowfield of a vehicle traveling in supersonic or hypersonic atmospheric flight is actively controlled using attribute(s) experienced by the vehicle. Sensed attribute(s) include pressure along the vehicle's outer mold line, temperature along the vehicle's outer mold line, heat flux along the vehicle's outer mold line, and/or local acceleration response of the vehicle. A non-heated, non-plasma-producing gas is injected into an upstream flowfield of the vehicle from at least one surface location along the vehicle's outer mold line. The pressure of the gas so-injected is adjusted based on the attribute(s) so-sensed.

  17. The Analysis of a Longitudinal Control System for Underwater Vehicles

    Science.gov (United States)

    1975-10-01

    9 PERFORMING ORGANIZATION NAME AND ADDRESS Naval Coastal Systems Laboratory Panama City, Florida 32401 10. PROGRAM ELEMENT. PROJECT. TASK...TfM.PH) VCNC + 1 ) = 0# U(NC >»QP/UCNC*1 -) V(NC)=0. FORM NEW KFOUCEn COFF »- ICIFVTS Aft 00 A9 T=1#NC 000u6fl<*0 00006660 OOGu6S70 000O68M0

  18. Sky-Hook Control and Kalman Filtering in Nonlinear Model of Tracked Vehicle Suspension System

    Directory of Open Access Journals (Sweden)

    Jurkiewicz Andrzej

    2017-09-01

    Full Text Available The essence of the undertaken topic is application of the continuous sky-hook control strategy and the Extended Kalman Filter as the state observer in the 2S1 tracked vehicle suspension system. The half-car model of this suspension system consists of seven logarithmic spiral springs and two magnetorheological dampers which has been described by the Bingham model. The applied continuous sky-hook control strategy considers nonlinear stiffness characteristic of the logarithmic spiral springs. The control is determined on estimates generated by the Extended Kalman Filter. Improve of ride comfort is verified by comparing simulation results, under the same driving conditions, of controlled and passive vehicle suspension systems.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2009-02-01

    This paper presents control performance of a full-vehicle suspension system featuring magnetorheological (MR) dampers via a discrete-time sliding mode control algorithm (DSMC). A cylindrical MR damper is designed by incorporating Bingham model of the MR fluid and the field-dependent damping characteristics of the MR damper are evaluated. A full-vehicle suspension model installed with independent four MR dampers is constructed and the governing equations which include vertical, pitch and roll motion are derived. A discrete-time control model is established with considering system uncertainties and a discrete-time sliding mode controller which has inherent robustness to model uncertainty and external disturbance is formulated. Vibration control performances under bump excitation are evaluated and presented.

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

    International Nuclear Information System (INIS)

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

    2009-01-01

    This paper presents control performance of a full-vehicle suspension system featuring magnetorheological (MR) dampers via a discrete-time sliding mode control algorithm (DSMC). A cylindrical MR damper is designed by incorporating Bingham model of the MR fluid and the field-dependent damping characteristics of the MR damper are evaluated. A full-vehicle suspension model installed with independent four MR dampers is constructed and the governing equations which include vertical, pitch and roll motion are derived. A discrete-time control model is established with considering system uncertainties and a discrete-time sliding mode controller which has inherent robustness to model uncertainty and external disturbance is formulated. Vibration control performances under bump excitation are evaluated and presented.

  1. Vibration control of an MR vehicle suspension system considering both hysteretic behavior and parameter variation

    International Nuclear Information System (INIS)

    Choi, Seung-Bok; Seong, Min-Sang; Ha, Sung-Hoon

    2009-01-01

    This paper presents vibration control responses of a controllable magnetorheological (MR) suspension system considering the two most important characteristics of the system; the field-dependent hysteretic behavior of the MR damper and the parameter variation of the suspension. In order to achieve this goal, a cylindrical MR damper which is applicable to a middle-sized passenger car is designed and manufactured. After verifying the damping force controllability, the field-dependent hysteretic behavior of the MR damper is identified using the Preisach hysteresis model. The full-vehicle suspension model is then derived by considering vertical, pitch and roll motions. An H ∞ controller is designed by treating the sprung mass of the vehicle as a parameter variation and integrating it with the hysteretic compensator which produces additional control input. In order to demonstrate the effectiveness and robustness of the proposed control system, the hardware-in-the-loop simulation (HILS) methodology is adopted by integrating the suspension model with the proposed MR damper. Vibration control responses of the vehicle suspension system such as vertical acceleration are evaluated under both bump and random road conditions

  2. Design of Sail-Assisted Unmanned Surface Vehicle Intelligent Control System

    OpenAIRE

    Ma, Yong; Zhao, Yujiao; Diao, Jiantao; Gan, Langxiong; Bi, Huaxiong; Zhao, Jingming

    2016-01-01

    To achieve the wind sail-assisted function of the unmanned surface vehicle (USV), this work focuses on the design problems of the sail-assisted USV intelligent control systems (SUICS) and illustrates the implementation process of the SUICS. The SUICS consists of the communication system, the sensor system, the PC platform, and the lower machine platform. To make full use of the wind energy, in the SUICS, we propose the sail angle of attack automatic adjustment (Sail_4A) algorithm and present ...

  3. 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.

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

    International Nuclear Information System (INIS)

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

    2012-01-01

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

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

    Directory of Open Access Journals (Sweden)

    F. Hunaini

    2015-03-01

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

  6. Battery charging control methods, electric vehicle charging methods, battery charging apparatuses and rechargeable battery systems

    Science.gov (United States)

    Tuffner, Francis K [Richland, WA; Kintner-Meyer, Michael C. W. [Richland, WA; Hammerstrom, Donald J [West Richland, WA; Pratt, Richard M [Richland, WA

    2012-05-22

    Battery charging control methods, electric vehicle charging methods, battery charging apparatuses and rechargeable battery systems. According to one aspect, a battery charging control method includes accessing information regarding a presence of at least one of a surplus and a deficiency of electrical energy upon an electrical power distribution system at a plurality of different moments in time, and using the information, controlling an adjustment of an amount of the electrical energy provided from the electrical power distribution system to a rechargeable battery to charge the rechargeable battery.

  7. Development of a wireless protection against imitation system for identification and control of vehicle access

    Directory of Open Access Journals (Sweden)

    Aleksei A. Gavrishev

    2018-03-01

    Full Text Available This article deals with wireless systems for identification and control of vehicle access to protected objects. Known systems are considered. As a result, it has been established that one of the most promising approaches to identifying and controlling vehicle access to protected objects is the use of systems based on the "friend or foe" principle. Among these systems, there are "one-directional" and "bedirectional" identification and access control systems. "Bidirectional" systems are more preferable for questions of identification and access control. However, at present, these systems should have a reduced probability of recognizing the structure of the request and response signals because the potential attacker can easily perform unauthorized access to the radio channel of the system. On this basis, developed a wireless system identification and control vehicle access to protected objects based on the principle of "friend or foe", featuring increased protection from unauthorized access and jamming through the use of rewritable drives chaotic sequences. In addition, it’s proposed to use to identify the vehicle's RFID tag containing additional information about it. Are some specifications of the developed system (the possible frequency range of the request-response signals, the communication range, data rate, the size of the transmitted data, guidelines for choosing RFID. Also, with the help of fuzzy logic, was made the security assessment from unauthorized access request-response signals based on the system of "friend or foe", which are transferred via radio channel, developed systems and analogues. The security assessment of the developed system shows an adequate degree of protection against complex threats (view, spoofing, interception and jamming of traffic in comparison with known systems of this class. Among the main advantages of the developed system it’s necessary to mention increased security from unauthorized access and jamming

  8. Experimental Autonomous Vehicle Systems

    DEFF Research Database (Denmark)

    Ravn, Ole; Andersen, Nils Axel

    1998-01-01

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

  9. 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.

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

    Science.gov (United States)

    Marzbanrad, Javad; Tahbaz-zadeh Moghaddam, Iman

    2016-09-01

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

  11. Development of an automated guided vehicle controller using a systems engineering approach

    Directory of Open Access Journals (Sweden)

    Ferreira, Tremaine

    2016-08-01

    Full Text Available Automated guided vehicles (AGVs are widely used for transporting materials in industry and commerce. In this research, an intelligent AGV-based material-handling system was developed using a model- based systems engineering (MBSE approach. The core of the AGV, the controller, was designed in the system modelling language environment using Visual Paradigm software, and then implemented in the hardware. As the result, the AGV’s complex tasks of material handling, navigation, and communication were successfully accomplished and tested in the real industrial environment. The developed AGV is capable of towing trolleys with a weight of up to 200kg at walking speed. The AGV can be incorporated into an intelligent material-handling system with multiple autonomous vehicles and work stations, thus providing flexibility and reconfigurability for the whole manufacturing system. Ergonomic and safety aspects were also considered in the design of the AGV. A comprehensive safety system that is compliant with industrial standards was implemented.

  12. 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.

  13. Distributed Cooperative Control of Multi Flywheel Energy Storage System for Electrical Vehicle Fast Charging Stations

    DEFF Research Database (Denmark)

    Sun, Bo; Dragicevic, Tomislav; Quintero, Juan Carlos Vasquez

    2015-01-01

    Plug-in electrical vehicles will play a critical role in future smart grid and sudden connection of electrical vehicles chargers may cause huge power-peaks with high slew-rates on grid. In order to cope with this issue, this paper applies a distributed cooperative control for fast charging station...... with dedicated paralleled flywheel-based energy storage system. The distributed DC-bus signaling method is employed in the power coordination of grid and flywheel converters, and a distributed secondary controller generates DC voltage correction term to adjust the local voltage set-point through a dynamic...... consensus based voltage observer by communicating with its neighbors. The control system can realize the power balancing and DC voltage regulation with low reliance on communications. Finally, real-time hardware-in-the-loop results have been reported in order to verify the feasibility of proposed approach....

  14. DESIGN AND DEVELOPMENT OF AUTO DEPTH CONTROL OF REMOTELY OPERATED VEHICLE USING THRUSTER SYSTEM

    Directory of Open Access Journals (Sweden)

    F.A. Ali

    2014-12-01

    Full Text Available Remotely Operated Vehicles are underwater robots designed specifically for surveillance, monitoring and collecting data for underwater activities. In the underwater vehicle industries, the thruster is an important part in controlling the direction, depth and speed of the ROV. However, there are some ROVs that cannot be maintained at the specified depth for a long time because of disturbance. This paper proposes an auto depth control using a thruster system. A prototype of a thruster with an auto depth control is developed and attached to the previously fabricated UTeM ROV. This paper presents the operation of auto depth control as well as thrusters for submerging and emerging purposes and maintaining the specified depth. The thruster system utilizes a microcontroller as its brain, a piezoresistive strain gauge pressure sensor and a DC brushless motor to run the propeller. Performance analysis of the auto depth control system is conducted to identify the sensitivity of the pressure sensor, and the accuracy and stability of the system. The results show that the thruster system performs well in maintaining a specified depth as well as stabilizing itself when a disturbanceoccurs even with a simple proportional controller used to control the thruster, where the thruster is an important component of the ROV.

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

    Directory of Open Access Journals (Sweden)

    Dimitrov Vasil

    2017-01-01

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

  16. Development of an Integrated Cooling System Controller for Hybrid Electric Vehicles

    Directory of Open Access Journals (Sweden)

    Chong Wang

    2017-01-01

    Full Text Available A hybrid electrical bus employs both a turbo diesel engine and an electric motor to drive the vehicle in different speed-torque scenarios. The cooling system for such a vehicle is particularly power costing because it needs to dissipate heat from not only the engine, but also the intercooler and the motor. An electronic control unit (ECU has been designed with a single chip computer, temperature sensors, DC motor drive circuit, and optimized control algorithm to manage the speeds of several fans for efficient cooling using a nonlinear fan speed adjustment strategy. Experiments suggested that the continuous operating performance of the ECU is robust and capable of saving 15% of the total electricity comparing with ordinary fan speed control method.

  17. Heading Control System for a Multi-body Vehicle with a Virtual Test Driver

    Directory of Open Access Journals (Sweden)

    POSTALCIOGLU OZGEN, S.

    2010-08-01

    Full Text Available This paper includes a Heading Control (HC system for a multi-body vehicle. HC system helps reducing the required torque from the driver and improves the lane keeping efficiency. HC system is important for safety and driver comfort in traffic. The controller performance is examined on a virtual test drive platform. The optimal control theory is applied to HC system and examined on a curved path and under a side wind disturbance. Different assistance levels are applied to see the characteristics of the controller with different virtual test drivers. The results are analyzed based on three performance indices; lane keeping performance (LKP index, assist torque performance (ATP index and driver torque performance (DTP index. As seen from the results while using HC system the lateral displacement decreases as the lane keeping performance increases and the driver torque performance decreases as the assist torque performance increases.

  18. Ride performance of a high speed rail vehicle using controlled semi active suspension system

    Science.gov (United States)

    Sharma, Sunil Kumar; Kumar, Anil

    2017-05-01

    The rail-wheel interaction in a rail vehicle running at high speed results in large amplitude vibration of carbody that deteriorates the ride comfort of travellers. The role of suspension system is crucial to provide an acceptable level of ride performance. In this context, an existing rail vehicle is modelled in vertical, pitch and roll motions of carbody and bogies. Additionally, nonlinear stiffness and damping parameters of passive suspension system are defined based on experimental data. In the secondary vertical suspension system, a magneto-rheological (MR) damper is included to improve the ride quality and comfort. The parameters of MR damper depend on the current, amplitude and frequency of excitations. At different running speeds, three semi-active suspension strategies with MR damper are analysed for periodic track irregularity and the resulting performance indices are juxtaposed with the nonlinear passive suspension system. The disturbance rejection and force tracking damper controller algorithms are applied to control the desired force of MR damper. This study reveals that the vertical vibrations of a vehicle can be reduced significantly by using the proposed semi-active suspension strategies. Moreover, it naturally results in improved ride quality and passenger’s comfort in comparison to the existing passive system.

  19. Design, control and power management of a battery/ultra-capacitor hybrid system for small electric vehicles

    DEFF Research Database (Denmark)

    Li, Zhihao; Onar, Omer; Khaligh, Alireza

    2009-01-01

    This paper introduces design, control, and power management of a battery/ultra-capacitor hybrid system, utilized for small electric vehicles (EV). The batteries are designed and controlled to work as the main energy storage source of the vehicle, supplying average power to the load; and the ultra...

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

    Science.gov (United States)

    Wilcox, Zachary Donald

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

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

    Science.gov (United States)

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

    2013-05-01

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

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

    Science.gov (United States)

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

    2014-03-01

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

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

    Directory of Open Access Journals (Sweden)

    Zhi-Jun Fu

    2017-01-01

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

  4. A Polar Fuzzy Control Scheme for Hybrid Power System Using Vehicle-To-Grid Technique

    Directory of Open Access Journals (Sweden)

    Mohammed Elsayed Lotfy

    2017-07-01

    Full Text Available A novel polar fuzzy (PF control approach for a hybrid power system is proposed in this research. The proposed control scheme remedies the issues of system frequency and the continuity of demand supply caused by renewable sources’ uncertainties. The hybrid power system consists of a wind turbine generator (WTG, solar photovoltaics (PV, a solar thermal power generator (STPG, a diesel engine generator (DEG, an aqua-electrolyzer (AE, an ultra-capacitor (UC, a fuel-cell (FC, and a flywheel (FW. Furthermore, due to the high cost of the battery energy storage system (BESS, a new idea of vehicle-to-grid (V2G control is applied to use the battery of the electric vehicle (EV as equivalent to large-scale energy storage units instead of small batteries to improve the frequency stability of the system. In addition, EV customers’ convenience is taken into account. A minimal-order observer is used to estimate the supply error. Then, the area control error (ACE signal is calculated in terms of the estimated supply error and the frequency deviation. ACE is considered in the frequency domain. Two PF approaches are utilized in the intended system. The mission of each controller is to mitigate one frequency component of ACE. The responsibility for ACE compensation is shared among all parts of the system according to their speed of response. The performance of the proposed control scheme is compared to the conventional fuzzy logic control (FLC. The effectiveness and robustness of the proposed control technique are verified by numerical simulations under various scenarios.

  5. Supercavitating Vehicle Control

    National Research Council Canada - National Science Library

    Kuklinski, Robert

    2008-01-01

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

  6. State estimation for integrated vehicle dynamics control

    NARCIS (Netherlands)

    Zuurbier, J.; Bremmer, P.

    2002-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Praczyk Tomasz

    2017-01-01

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

  8. Control Strategy for Power Distribution in Dual Motor Propulsion System for Electric Vehicles

    Directory of Open Access Journals (Sweden)

    Pedro Daniel Urbina Coronado

    2015-01-01

    Full Text Available Electric Vehicles with more than one electric motor can offer advantages in saving energy from the batteries. In order to do that, the control strategy plays an important role in distributing the required torque between the electric motors. A dual motor propulsion system with a differential transmission is simulated in this work. A rule based control strategy for this propulsion system is proposed and analyzed. Two parameters related to the output speed of the transmission and the required torque are used to switch the two modes of operation in which the propulsion system can work under acceleration. The effect of these parameters is presented over the driving cycles of NEDC, UDDS, and NYCC, which are followed using a PID controller. The produced energy losses are calculated as well as an indicator of drivability, which is related to the difference between the desired speed and the actual speed obtained. The results show that less energy losses are present when the vehicle is maintained with one electric motor most of the time, switching only when the extended speed granted by the second motor is required. The propulsion system with the proposed control strategy represents a feasible alternative in the spectrum of sustainable transportation architectures with extending range capabilities.

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

    Directory of Open Access Journals (Sweden)

    Ambarish G. Mohapatra

    2011-09-01

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

  10. A multiobjective ? control strategy for energy harvesting in regenerative vehicle suspension systems

    Science.gov (United States)

    Casavola, Alessandro; Di Iorio, Fabio; Tedesco, Francesco

    2018-04-01

    A significant amount of energy induced by road unevenness and vehicle roll and pitch motions is usually dissipated by conventional shock-absorbers. In this paper, a novel active multiobjective ? control design methodology is proposed which explicitly includes, besides the usual control objectives on ride comfort, road handling and suspension stroke, the amount of energy to be harvested as an additional, though conflicting, control objective and allows the designer to directly trade-off among them depending on the application. An electromechanical regenerative suspension system is considered where the viscous damper is replaced by a linear electrical motor which is actively governed. It is shown that the proposed control law is able to achieve remarkable improvements on the amount of the harvested energy with respect to passive or semi-active control strategies while maintaining the other objectives at acceptable levels. Simulative studies undertaken via CarSim are also reported that confirm the potentiality and flexibility of the proposed control design strategy.

  11. An Application of Computer Vision Systems to Solve the Problem of Unmanned Aerial Vehicle Control

    Directory of Open Access Journals (Sweden)

    Aksenov Alexey Y.

    2014-09-01

    Full Text Available The paper considers an approach for application of computer vision systems to solve the problem of unmanned aerial vehicle control. The processing of images obtained through onboard camera is required for absolute positioning of aerial platform (automatic landing and take-off, hovering etc. used image processing on-board camera. The proposed method combines the advantages of existing systems and gives the ability to perform hovering over a given point, the exact take-off and landing. The limitations of implemented methods are determined and the algorithm is proposed to combine them in order to improve the efficiency.

  12. Hierarchical Control Strategy for the Cooperative Braking System of Electric Vehicle

    Directory of Open Access Journals (Sweden)

    Jiankun Peng

    2015-01-01

    Full Text Available This paper provides a hierarchical control strategy for cooperative braking system of an electric vehicle with separated driven axles. Two layers are defined: the top layer is used to optimize the braking stability based on two sliding mode control strategies, namely, the interaxle control mode and signal-axle control strategies; the interaxle control strategy generates the ideal braking force distribution in general braking condition, and the single-axle control strategy can ensure braking safety in emergency braking condition; the bottom layer is used to maximize the regenerative braking energy recovery efficiency with a reallocated braking torque strategy; the reallocated braking torque strategy can recovery braking energy as much as possible in the premise of meeting battery charging power. The simulation results show that the proposed hierarchical control strategy is reasonable and can adapt to different typical road surfaces and load cases; the vehicle braking stability and safety can be guaranteed; furthermore, the regenerative braking energy recovery efficiency can be improved.

  13. Hierarchical Control Strategy for the Cooperative Braking System of Electric Vehicle

    Science.gov (United States)

    Peng, Jiankun; He, Hongwen; Guo, Hongqiang

    2015-01-01

    This paper provides a hierarchical control strategy for cooperative braking system of an electric vehicle with separated driven axles. Two layers are defined: the top layer is used to optimize the braking stability based on two sliding mode control strategies, namely, the interaxle control mode and signal-axle control strategies; the interaxle control strategy generates the ideal braking force distribution in general braking condition, and the single-axle control strategy can ensure braking safety in emergency braking condition; the bottom layer is used to maximize the regenerative braking energy recovery efficiency with a reallocated braking torque strategy; the reallocated braking torque strategy can recovery braking energy as much as possible in the premise of meeting battery charging power. The simulation results show that the proposed hierarchical control strategy is reasonable and can adapt to different typical road surfaces and load cases; the vehicle braking stability and safety can be guaranteed; furthermore, the regenerative braking energy recovery efficiency can be improved. PMID:26236772

  14. Control and navigation system for a fixed-wing unmanned aerial vehicle

    Directory of Open Access Journals (Sweden)

    Ruiyong Zhai

    2014-02-01

    Full Text Available This paper presents a flight control and navigation system for a fixed-wing unmanned aerial vehicle (UAV with low-cost micro-electro-mechanical system (MEMS sensors. The system is designed under the inner loop and outer loop strategy. The trajectory tracking navigation loop is the outer loop of the attitude loop, while the attitude control loop is the outer loop of the stabilization loop. The proportional-integral-derivative (PID control was adopted for stabilization and attitude control. The three-dimensional (3D trajectory tracking control of a UAV could be approximately divided into lateral control and longitudinal control. The longitudinal control employs traditional linear PID feedback to achieve the desired altitude of the UAV, while the lateral control uses a non-linear control method to complete the desired trajectory. The non-linear controller can automatically adapt to ground velocity change, which is usually caused by gust disturbance, thus the UAV has good wind resistance characteristics. Flight tests and survey missions were carried out with our self-developed delta fixed-wing UAV and MEMS-based autopilot to confirm the effectiveness and practicality of the proposed navigation method.

  15. Performance test of remote controlled engineering vehicle system for CBRN threat. Countermeasure performance for CBRN-environment

    International Nuclear Information System (INIS)

    Naruse, Masahiro; Uemura, Keisuke; Morishita, Masahiro

    2015-01-01

    A research of 'remote controlled engineering vehicle system for CBRN threat' was triggered by the nuclear accident that successively happened after the Great East Japan Earthquake. This project focuses on the remote controlled engineering system that can be used for multi purposes such as debris/obstacle clearing operation or various reconnaissance operation, under CBRN threat. For the remote-controlled engineering vehicle, we conducted a series of validation tests for countermeasure performance for CBRN-environment. As a result, it is proved that the vehicle possess required performances for CBRN threat. (author)

  16. Autonomous docking control of visual-servo type underwater vehicle system aiming at underwater automatic charging

    International Nuclear Information System (INIS)

    Yanou, Akira; Ohnishi, Shota; Ishiyama, Shintaro; Minami, Mamoru

    2015-01-01

    A visual-servo type remotely operated vehicle (ROV) system with binocular wide-angle lens was developed to survey submarine resources, decontaminate radiation from mud in dam lake and so on. This paper explores the experiments on regulator performance and underwater docking of the robot system utilizing Genetic Algorithm (GA) for real-time recognition of the robot's relative position and posture through 3D marker. The visual servoing performances have been verified as follows; (1) The stability performances of the proposed regulator system have been evaluated by exerting abrupt distrubane force while the ROV is controlled by visual servoing. (2) The proposed system can track time-variant desired target position in x-axis (front-back direction of the robot). (3) The underwater docking can be completed by switching visual servoing and docking modes based on the error threshold, and by giving time-varying desired target position and orientation to the controller as a desired pose. (author)

  17. Hamburg subway vehicles with new control and traction systems; Hamburger U-Bahn-Fahrzeuge mit neuer Leit- und Antriebstechnik

    Energy Technology Data Exchange (ETDEWEB)

    Polster, H.J.; Lehr, G.; Werner-Wieland, P. [Bombardier Transportation, LRV, Mannheim (Germany)

    2007-07-01

    With a view to testing new technologies for future vehicle series for the Hamburg subway network, the last 17 DT4 cars to be delivered under a current contract were equipped with the latest generation of control and traction systems. A MITRAC control system was installed instead of the MICAS-S type used in the DT4 vehicles delivered before. The GTO converters were replaced by IGBT elements. The concept is designed to allow for the change-over of DT4 vehicles of previous series to the new system. (orig.)

  18. Control of quality in the tests of systems of containment of vehicles. Intercomparison of the results of the tests

    International Nuclear Information System (INIS)

    Lopez Ramos, S.

    2009-01-01

    This article tries to offer information on how Central Laboratory of Structures and Materials are made the tests for Marca N of AENOR of the systems of containment of vehicles and its control of external quality. (Author) 15 refs

  19. Design and Implementation of a Control System for Testing an Experimental Electrical Vehicle

    OpenAIRE

    Miranda Bermejo, Jorge

    2010-01-01

    The Research Institute of Vehicle Engines and Automotive Engineering (IVK) at the University of Stuttgart is developing an experimental electric vehicle. With that vehicle different research topics in the scope of e-mobility will be investigated. Some of these topics are range prediction and optimization issues, adapted control of inverter and electric motor, as well as, different battery charging techniques. The aim of this master thesis is to design and to implement the contr...

  20. The performance and efficiency of four motor/controller/battery systems for the simpler electric vehicles

    Science.gov (United States)

    Shipps, P. R.

    1980-01-01

    A test and analysis program performed on four complete propulsion systems for an urban electric vehicle (EV) is described and results given. A dc series motor and a permanent magnet (PM) motor were tested, each powered by an EV battery pack and controlled by (1) a series/parallel voltage-switching (V-switch) system; and (2) a system using a pulse width modulation, 400 Hz transistorized chopper. Dynamometer tests were first performed, followed by eV performance predictions and data correlating road tests. During dynamometer tests using chopper control; current, voltage, and power were measured on both the battery and motor sides of the chopper, using three types of instrumentation. Conventional dc instruments provided adequate accuracy for eV power and energy measurements, when used on the battery side of the controller. When using the chopper controller, the addition of a small choke inductor improved system efficiency in the lower duty cycle range (some 8% increase at 50% duty cycle) with both types of motors. Overall system efficiency rankings during road tests were: (1) series motor with V-switch; (2) PM motor with V-switch; (3) series motor with chopper; and (4) PM motor with chopper. Chopper control of the eV was smoother and required less driver skill than V-switch control.

  1. Study of design factors of vehicle headlamp control systems; Zenshoto seigyo system no hyoka shuho no kento

    Energy Technology Data Exchange (ETDEWEB)

    Kamishima, H; Miwa, T; Sasaki, T; Imai, M [Nissan Motor Co. Ltd., Tokyo (Japan); Sumi, T [Niles Parts Co. Ltd., Tokyo (Japan)

    1997-10-01

    The on-and-off timing of vehicle headlamp control systems varies with weather conditions. Cloudy weather has a wider light energy distribution from visible to infrared radiation than clear weather. Silicon photodiodes, which can detect visible to infrared radiation, have larger output currents on cloudy evenings than on clear evenings under the same brightness conditions. The systems should be designed with such factors in mind as spectral characteristics of windshield, filters, sensor, and eyesight. 4 refs., 9 figs.

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

    Directory of Open Access Journals (Sweden)

    Ziran Wang

    2017-01-01

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

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

    Science.gov (United States)

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

    2018-01-01

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

  4. Statistical methods for launch vehicle guidance, navigation, and control (GN&C) system design and analysis

    Science.gov (United States)

    Rose, Michael Benjamin

    A novel trajectory and attitude control and navigation analysis tool for powered ascent is developed. The tool is capable of rapid trade-space analysis and is designed to ultimately reduce turnaround time for launch vehicle design, mission planning, and redesign work. It is streamlined to quickly determine trajectory and attitude control dispersions, propellant dispersions, orbit insertion dispersions, and navigation errors and their sensitivities to sensor errors, actuator execution uncertainties, and random disturbances. The tool is developed by applying both Monte Carlo and linear covariance analysis techniques to a closed-loop, launch vehicle guidance, navigation, and control (GN&C) system. The nonlinear dynamics and flight GN&C software models of a closed-loop, six-degree-of-freedom (6-DOF), Monte Carlo simulation are formulated and developed. The nominal reference trajectory (NRT) for the proposed lunar ascent trajectory is defined and generated. The Monte Carlo truth models and GN&C algorithms are linearized about the NRT, the linear covariance equations are formulated, and the linear covariance simulation is developed. The performance of the launch vehicle GN&C system is evaluated using both Monte Carlo and linear covariance techniques and their trajectory and attitude control dispersion, propellant dispersion, orbit insertion dispersion, and navigation error results are validated and compared. Statistical results from linear covariance analysis are generally within 10% of Monte Carlo results, and in most cases the differences are less than 5%. This is an excellent result given the many complex nonlinearities that are embedded in the ascent GN&C problem. Moreover, the real value of this tool lies in its speed, where the linear covariance simulation is 1036.62 times faster than the Monte Carlo simulation. Although the application and results presented are for a lunar, single-stage-to-orbit (SSTO), ascent vehicle, the tools, techniques, and mathematical

  5. Aggregation of Plug-in Electric Vehicles in Power Systems for Primary Frequency Control

    NARCIS (Netherlands)

    Izadkhast, S.

    2017-01-01

    The number of plug-in electric vehicles (PEVs) is likely to increase in the near future and these vehicles will probably be connected to the electric grid most of the day time. PEVs are interesting options to provide a wide variety of services such as primary frequency control (PFC), because they

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

    Science.gov (United States)

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

    2010-05-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2009-07-01

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

  8. Integrated robust controller for vehicle path following

    Energy Technology Data Exchange (ETDEWEB)

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

    2015-02-15

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

  9. Integrated robust controller for vehicle path following

    International Nuclear Information System (INIS)

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

    2015-01-01

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

  10. 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

  11. A novel multi-drive electric vehicle system control based on multi-input multi-output PID controller

    Directory of Open Access Journals (Sweden)

    Gasbaoui Brahim

    2012-01-01

    Full Text Available In-wheel-motor drive electric vehicle (EV is an innovative configuration of the modern EV, in which each wheel is driven individually by an electric motor. The classical traction motor control called the Independent Machine Control Structure (IMCS using a PID speed controller presents major inconveniences in modern EV safety, when the proposed control can not ensure stability of the EV with differing road topology and variations of speed. A new approach is proposed for a control of a two-in-wheel-motor drive EV, called the Maximum Control Structure MCS. This is based on a multivariable PID (MIMO-PID strategy, which is employed to estimate the linear speed error of each of the two back driving wheels, when the error of each wheel is taken into account in the other speed control computations. Simulation results show that the new control system presents increased safety for the EVs compared with the IMCS strategy and can maintain the error slip rate within the optimal range, ensuring the stability of the vehicle either in a straight or a curved line.

  12. Design of Sail-Assisted Unmanned Surface Vehicle Intelligent Control System

    Directory of Open Access Journals (Sweden)

    Yong Ma

    2016-01-01

    Full Text Available To achieve the wind sail-assisted function of the unmanned surface vehicle (USV, this work focuses on the design problems of the sail-assisted USV intelligent control systems (SUICS and illustrates the implementation process of the SUICS. The SUICS consists of the communication system, the sensor system, the PC platform, and the lower machine platform. To make full use of the wind energy, in the SUICS, we propose the sail angle of attack automatic adjustment (Sail_4A algorithm and present the realization flow for each subsystem of the SUICS. By using the test boat, the design and implementation of the SUICS are fulfilled systematically. Experiments verify the performance and effectiveness of our SUICS. The SUICS enhances the intelligent utility of sustainable wind energy for the sail-assisted USV significantly and plays a vital role in shipping energy-saving emission reduction requirements issued by International Maritime Organization (IMO.

  13. Vehicle usage verification system

    NARCIS (Netherlands)

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

    2012-01-01

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

  14. Optimal control of a variable spin speed CMG system for space vehicles. [Control Moment Gyros

    Science.gov (United States)

    Liu, T. C.; Chubb, W. B.; Seltzer, S. M.; Thompson, Z.

    1973-01-01

    Many future NASA programs require very high accurate pointing stability. These pointing requirements are well beyond anything attempted to date. This paper suggests a control system which has the capability of meeting these requirements. An optimal control law for the suggested system is specified. However, since no direct method of solution is known for this complicated system, a computation technique using successive approximations is used to develop the required solution. The method of calculus of variations is applied for estimating the changes of index of performance as well as those constraints of inequality of state variables and terminal conditions. Thus, an algorithm is obtained by the steepest descent method and/or conjugate gradient method. Numerical examples are given to show the optimal controls.

  15. Design and Control of a 3 kW Wireless Power Transfer System for Electric Vehicles

    Directory of Open Access Journals (Sweden)

    Zhenshi Wang

    2015-12-01

    Full Text Available This paper aims to study a 3 kW wireless power transfer system for electric vehicles. First, the LCL-LCL topology and LC-LC series topology are analyzed, and their transfer efficiencies under the same transfer power are compared. The LC-LC series topology is validated to be more efficient than the LCL-LCL topology and thus is more suitable for the system design. Then a novel q-Zsource-based online power regulation method which employs a unique impedance network (two pairs of inductors and capacitors to couple the cascaded H Bridge to the power source is proposed. By controlling the shoot-through state of the H Bridge, the charging current can be adjusted, and hence, transfer power. Finally, a prototype is implemented, which can transfer 3 kW wirelessly with ~95% efficiency over a 20 cm transfer distance.

  16. Vehicle barrier systems

    International Nuclear Information System (INIS)

    Sena, P.A.

    1986-01-01

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

  17. Self-Contained Avionics Sensing and Flight Control System for Small Unmanned Aerial Vehicle

    Science.gov (United States)

    Shams, Qamar A. (Inventor); Logan, Michael J. (Inventor); Fox, Robert L. (Inventor); Fox, legal representative, Christopher L. (Inventor); Fox, legal representative, Melanie L. (Inventor); Ingham, John C. (Inventor); Laughter, Sean A. (Inventor); Kuhn, III, Theodore R. (Inventor); Adams, James K. (Inventor); Babel, III, Walter C. (Inventor)

    2011-01-01

    A self-contained avionics sensing and flight control system is provided for an unmanned aerial vehicle (UAV). The system includes sensors for sensing flight control parameters and surveillance parameters, and a Global Positioning System (GPS) receiver. Flight control parameters and location signals are processed to generate flight control signals. A Field Programmable Gate Array (FPGA) is configured to provide a look-up table storing sets of values with each set being associated with a servo mechanism mounted on the UAV and with each value in each set indicating a unique duty cycle for the servo mechanism associated therewith. Each value in each set is further indexed to a bit position indicative of a unique percentage of a maximum duty cycle for the servo mechanism associated therewith. The FPGA is further configured to provide a plurality of pulse width modulation (PWM) generators coupled to the look-up table. Each PWM generator is associated with and adapted to be coupled to one of the servo mechanisms.

  18. Validation of a motor activity system by a robotically controlled vehicle and using standard reference compounds.

    Science.gov (United States)

    Patterson, John P; Markgraf, Carrie G; Cirino, Maria; Bass, Alan S

    2005-01-01

    A series of experiments were undertaken to evaluate the accuracy, precision, specificity, and sensitivity of an automated, infrared photo beam-based open field motor activity system, the MotorMonitor v. 4.01, Hamilton-Kinder, LLC, for use in a good laboratory practices (GLP) Safety Pharmacology laboratory. This evaluation consisted of two phases: (1) system validation, employing known inputs using the EM-100 Controller Photo Beam Validation System, a robotically controlled vehicle representing a rodent and (2) biologic validation, employing groups of rats treated with the standard pharmacologic agents diazepam or D-amphetamine. The MotorMonitor's parameters that described the open-field activity of a subject were: basic movements, total distance, fine movements, x/y horizontal ambulations, rearing, and total rest time. These measurements were evaluated over a number of zones within each enclosure. System validation with the EM-100 Controller Photo Beam Validation System showed that all the parameters accurately and precisely measured what they were intended to measure, with the exception of fine movements and x/y ambulations. Biologic validation using the central nervous system depressant diazepam at 1, 2, or 5 mg/kg, i.p. produced the expected dose-dependent reduction in rat motor activity. In contrast, the central nervous system stimulant D-amphetamine produced the expected increases in rat motor activity at 0.1 and 1 mg/kg, i.p, demonstrating the specificity and sensitivity of the system. Taken together, these studies of the accuracy, precision, specificity, and sensitivity show the importance of both system and biologic validation in the evaluation of an automated open field motor activity system for use in a GLP compliant laboratory.

  19. Transient fault tolerant control for vehicle brake-by-wire systems

    International Nuclear Information System (INIS)

    Huang, Shuang; Zhou, Chunjie; Yang, Lili; Qin, Yuanqing; Huang, Xiongfeng; Hu, Bowen

    2016-01-01

    Brake-by-wire (BBW) systems that have no mechanical linkage between the brake pedal and the brake mechanism are expected to improve vehicle safety through better braking capability. However, transient faults in BBW systems can cause dangerous driving situations. Most existing research in this area focuses on the brake control mechanism, but very few studies try to solve the problem associated with transient fault propagation and evolution in the brake control system hierarchy. In this paper, a hierarchical transient fault tolerant scheme with embedded intelligence and resilient coordination for BBW system is proposed based on the analysis of transient fault propagation characteristics. In this scheme, most transient faults are tackled rapidly by a signature-based detection method at the node level, and the remaining transient faults, which cannot be detected directly at the node level and could degrade the system performance through fault propagation and evolution, are detected and recovered through function and structure models at the system level. To jointly accommodate these BBW transient faults at the system level, a sliding mode control algorithm and a task reallocation strategy are designed. A simulation platform based on Architecture Analysis and Design Language (AADL) is established to evaluate the task reallocation strategy, and a hardware-in-the-loop simulation is carried out to validate the proposed scheme systematically. Experimental results show the effectiveness of this new approach to BBW systems. - Highlights: • We propose a hierarchical transient fault tolerant scheme for BBW systems. • A sliding mode algorithm and a task strategy are designed to tackle transient fault. • The effectiveness of the scheme is verified in both simulation and HIL environments.

  20. Vibration control of a camera mount system for an unmanned aerial vehicle using piezostack actuators

    International Nuclear Information System (INIS)

    Oh, Jong-Seok; Choi, Seung-Bok; Han, Young-Min

    2011-01-01

    This work proposes an active mount for the camera systems of unmanned aerial vehicles (UAV) in order to control unwanted vibrations. An active actuator of the proposed mount is devised as an inertial type, in which a piezostack actuator is directly connected to the inertial mass. After evaluating the actuating force of the actuator, it is combined with the rubber element of the mount, whose natural frequency is determined based on the measured vibration characteristics of UAV. Based on the governing equations of motion of the active camera mount, a robust sliding mode controller (SMC) is then formulated with consideration of parameter uncertainties and hysteresis behavior of the actuator. Subsequently, vibration control performances of the proposed active mount are experimentally evaluated in the time and frequency domains. In addition, a full camera mount system of UAVs that is supported by four active mounts is considered and its vibration control performance is evaluated in the frequency domain using a hardware-in-the-loop simulation (HILS) method

  1. Adaptive Robust Online Constructive Fuzzy Control of a Complex Surface Vehicle System.

    Science.gov (United States)

    Wang, Ning; Er, Meng Joo; Sun, Jing-Chao; Liu, Yan-Cheng

    2016-07-01

    In this paper, a novel adaptive robust online constructive fuzzy control (AR-OCFC) scheme, employing an online constructive fuzzy approximator (OCFA), to deal with tracking surface vehicles with uncertainties and unknown disturbances is proposed. Significant contributions of this paper are as follows: 1) unlike previous self-organizing fuzzy neural networks, the OCFA employs decoupled distance measure to dynamically allocate discriminable and sparse fuzzy sets in each dimension and is able to parsimoniously self-construct high interpretable T-S fuzzy rules; 2) an OCFA-based dominant adaptive controller (DAC) is designed by employing the improved projection-based adaptive laws derived from the Lyapunov synthesis which can guarantee reasonable fuzzy partitions; 3) closed-loop system stability and robustness are ensured by stable cancelation and decoupled adaptive compensation, respectively, thereby contributing to an auxiliary robust controller (ARC); and 4) global asymptotic closed-loop system can be guaranteed by AR-OCFC consisting of DAC and ARC and all signals are bounded. Simulation studies and comprehensive comparisons with state-of-the-arts fixed- and dynamic-structure adaptive control schemes demonstrate superior performance of the AR-OCFC in terms of tracking and approximation accuracy.

  2. Dynamics and Control of a Maglev Vehicle

    Directory of Open Access Journals (Sweden)

    Won ko

    2006-06-01

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

  3. Novel control algorithm of braking energy regeneration system for an electric vehicle during safety–critical driving maneuvers

    International Nuclear Information System (INIS)

    Lv, Chen; Zhang, Junzhi; Li, Yutong; Yuan, Ye

    2015-01-01

    Highlights: • Models of an electric vehicle with regenerative braking system (RBS) are built. • Control algorithm of RBS under safety–critical driving maneuvers is proposed. • Simulations and HIL tests of the proposed strategy are conducted. • Performance improvement of vehicle’s mean deceleration is up to 13.89%. • Test results verify the feasibility and effectiveness of the proposed method. - Abstract: This paper mainly focuses on control algorithm of the braking energy regeneration system of an electric bus under safety–critical driving situations. With the aims of guaranteeing vehicle stability in various types of tyre–road adhesion conditions, based on the characteristics of electrified powertrain, a novel control algorithm of regenerative braking system is proposed for electric vehicles during anti-lock braking procedures. First, the models of vehicle dynamics and main components including braking energy regenerative system of the case-study electric bus are built in MATLAB/Simulink. Then, based on the phase-plane method, the optimal brake torque is calculated for ABS control of vehicle. Next, a novel allocation strategy, wherein the target optimal brake torque is divided into two parts that are handled separately by the regenerative and friction brakes, is developed. Simulations of the proposed control strategy are conducted based on system models built using MATLAB/Simulink. The simulation results demonstrate that the developed strategy enables improved control in terms of vehicle stability and braking performance under different emergency driving conditions. To further verify the synthesized control algorithm, hardware-in-the-loop tests are also performed. The experimental results validate the simulation data and verify the feasibility and effectiveness of the developed control algorithm.

  4. A comprehensive review of rollover accidents involving vehicles equipped with Electronic Stability Control (ESC) systems.

    Science.gov (United States)

    Padmanaban, Jeya; Shields, Leland E; Scheibe, Robert R; Eyges, Vitaly E

    2008-10-01

    This study investigated 478 police accident reports from 9 states to examine and characterize rollover crashes involving ESC-equipped vehicles. The focus was on the sequence of critical events leading to loss of control and rollover, and the interactions between the accident, driver, and environment. Results show that, while ESC is effective in reducing loss of control leading to certain rollover crashes, its effectiveness is diminished in others, particularly when the vehicle departs the roadway or when environmental factors such as slick road conditions or driver factors such as speeding, distraction, fatigue, impairment, or overcorrection are present.

  5. Human-Automation Interaction Design for Adaptive Cruise Control Systems of Ground Vehicles

    Directory of Open Access Journals (Sweden)

    Hwisoo Eom

    2015-06-01

    Full Text Available A majority of recently developed advanced vehicles have been equipped with various automated driver assistance systems, such as adaptive cruise control (ACC and lane keeping assistance systems. ACC systems have several operational modes, and drivers can be unaware of the mode in which they are operating. Because mode confusion is a significant human error factor that contributes to traffic accidents, it is necessary to develop user interfaces for ACC systems that can reduce mode confusion. To meet this requirement, this paper presents a new human-automation interaction design methodology in which the compatibility of the machine and interface models is determined using the proposed criteria, and if the models are incompatible, one or both of the models is/are modified to make them compatible. To investigate the effectiveness of our methodology, we designed two new interfaces by separately modifying the machine model and the interface model and then performed driver-in-the-loop experiments. The results showed that modifying the machine model provides a more compact, acceptable, effective, and safe interface than modifying the interface model.

  6. Human-Automation Interaction Design for Adaptive Cruise Control Systems of Ground Vehicles.

    Science.gov (United States)

    Eom, Hwisoo; Lee, Sang Hun

    2015-06-12

    A majority of recently developed advanced vehicles have been equipped with various automated driver assistance systems, such as adaptive cruise control (ACC) and lane keeping assistance systems. ACC systems have several operational modes, and drivers can be unaware of the mode in which they are operating. Because mode confusion is a significant human error factor that contributes to traffic accidents, it is necessary to develop user interfaces for ACC systems that can reduce mode confusion. To meet this requirement, this paper presents a new human-automation interaction design methodology in which the compatibility of the machine and interface models is determined using the proposed criteria, and if the models are incompatible, one or both of the models is/are modified to make them compatible. To investigate the effectiveness of our methodology, we designed two new interfaces by separately modifying the machine model and the interface model and then performed driver-in-the-loop experiments. The results showed that modifying the machine model provides a more compact, acceptable, effective, and safe interface than modifying the interface model.

  7. Multi-objective optimization of the control strategy of electric vehicle electro-hydraulic composite braking system with genetic algorithm

    Directory of Open Access Journals (Sweden)

    Zhang Fengjiao

    2015-03-01

    Full Text Available Optimization of the control strategy plays an important role in improving the performance of electric vehicles. In order to improve the braking stability and recover the braking energy, a multi-objective genetic algorithm is applied to optimize the key parameters in the control strategy of electric vehicle electro-hydraulic composite braking system. Various limitations are considered in the optimization process, and the optimization results are verified by a software simulation platform of electric vehicle regenerative braking system in typical brake conditions. The results show that optimization objectives achieved a good astringency, and the optimized control strategy can increase the brake energy recovery effectively under the condition of ensuring the braking stability.

  8. A vehicle stability control strategy with adaptive neural network sliding mode theory based on system uncertainty approximation

    Science.gov (United States)

    Ji, Xuewu; He, Xiangkun; Lv, Chen; Liu, Yahui; Wu, Jian

    2018-06-01

    Modelling uncertainty, parameter variation and unknown external disturbance are the major concerns in the development of an advanced controller for vehicle stability at the limits of handling. Sliding mode control (SMC) method has proved to be robust against parameter variation and unknown external disturbance with satisfactory tracking performance. But modelling uncertainty, such as errors caused in model simplification, is inevitable in model-based controller design, resulting in lowered control quality. The adaptive radial basis function network (ARBFN) can effectively improve the control performance against large system uncertainty by learning to approximate arbitrary nonlinear functions and ensure the global asymptotic stability of the closed-loop system. In this paper, a novel vehicle dynamics stability control strategy is proposed using the adaptive radial basis function network sliding mode control (ARBFN-SMC) to learn system uncertainty and eliminate its adverse effects. This strategy adopts a hierarchical control structure which consists of reference model layer, yaw moment control layer, braking torque allocation layer and executive layer. Co-simulation using MATLAB/Simulink and AMESim is conducted on a verified 15-DOF nonlinear vehicle system model with the integrated-electro-hydraulic brake system (I-EHB) actuator in a Sine With Dwell manoeuvre. The simulation results show that ARBFN-SMC scheme exhibits superior stability and tracking performance in different running conditions compared with SMC scheme.

  9. Contribution to intelligent vehicle platoon control

    OpenAIRE

    Zhao , Jin

    2010-01-01

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

  10. Automated Vehicle Monitoring System

    OpenAIRE

    Wibowo, Agustinus Deddy Arief; Heriansyah, Rudi

    2014-01-01

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

  11. Model predictive controller-based multi-model control system for longitudinal stability of distributed drive electric vehicle.

    Science.gov (United States)

    Shi, Ke; Yuan, Xiaofang; Liu, Liang

    2018-01-01

    Distributed drive electric vehicle(DDEV) has been widely researched recently, its longitudinal stability is a very important research topic. Conventional wheel slip ratio control strategies are usually designed for one special operating mode and the optimal performance cannot be obtained as DDEV works under various operating modes. In this paper, a novel model predictive controller-based multi-model control system (MPC-MMCS) is proposed to solve the longitudinal stability problem of DDEV. Firstly, the operation state of DDEV is summarized as three kinds of typical operating modes. A submodel set is established to accurately represent the state value of the corresponding operating mode. Secondly, the matching degree between the state of actual DDEV and each submodel is analyzed. The matching degree is expressed as the weight coefficient and calculated by a modified recursive Bayes theorem. Thirdly, a nonlinear MPC is designed to achieve the optimal wheel slip ratio for each submodel. The optimal design of MPC is realized by parallel chaos optimization algorithm(PCOA)with computational accuracy and efficiency. Finally, the control output of MPC-MMCS is computed by the weighted output of each MPC to achieve smooth switching between operating modes. The proposed MPC-MMCS is evaluated on eight degrees of freedom(8DOF)DDEV model simulation platform and simulation results of different condition show the benefits of the proposed control system. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  12. Mid-Lift-to-Drag Ratio Rigid Vehicle Control System Design and Simulation for Human Mars Entry

    Science.gov (United States)

    Johnson, Breanna J.; Cerimele, Christopher J.; Stachowiak, Susan J.; Sostaric, Ronald R.; Matz, Daniel A.; Lu, Ping

    2018-01-01

    The Mid-Lift-to-Drag Ratio Rigid Vehicle (MRV) is a proposed candidate in the NASA Evolvable Mars Campaign's (EMC) Pathfinder Entry, Descent, and Landing (EDL) architecture study. The purpose of the study is to design a mission and vehicle capable of transporting a 20mt payload to the surface of Mars. The MRV is unique in its rigid, asymmetrical lifting-body shape which enables a higher lift-to-drag ratio (L/D) than the typical robotic Mars entry capsule vehicles that carry much less mass. This paper presents the formulation and six-degree-of-freedom (6DOF) performance of the MRV's control system, which uses both aerosurfaces and a propulsive reaction control system (RCS) to affect longitudinal and lateral directional behavior.

  13. Energy Management and Control of Plug-In Hybrid Electric Vehicle Charging Stations in a Grid-Connected Hybrid Power System

    Directory of Open Access Journals (Sweden)

    Sidra Mumtaz

    2017-11-01

    Full Text Available The charging infrastructure plays a key role in the healthy and rapid development of the electric vehicle industry. This paper presents an energy management and control system of an electric vehicle charging station. The charging station (CS is integrated to a grid-connected hybrid power system having a wind turbine maximum power point tracking (MPPT controlled subsystem, photovoltaic (PV MPPT controlled subsystem and a controlled solid oxide fuel cell with electrolyzer subsystem which are characterized as renewable energy sources. In this article, an energy management system is designed for charging and discharging of five different plug-in hybrid electric vehicles (PHEVs simultaneously to fulfil the grid-to-vehicle (G2V, vehicle-to-grid (V2G, grid-to-battery storage system (G2BSS, battery storage system-to-grid (BSS2G, battery storage system-to-vehicle (BSS2V, vehicle-to-battery storage system (V2BSS and vehicle-to-vehicle (V2V charging and discharging requirements of the charging station. A simulation test-bed in Matlab/Simulink is developed to evaluate and control adaptively the AC-DC-AC converter of non-renewable energy source, DC-DC converters of the storage system, DC-AC grid side inverter and the converters of the CS using adaptive proportional-integral-derivate (AdapPID control paradigm. The effectiveness of the AdapPID control strategy is validated through simulation results by comparing with conventional PID control scheme.

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

    Directory of Open Access Journals (Sweden)

    Zhong Liu

    2017-02-01

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

  15. Vehicle brake testing system

    Science.gov (United States)

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

    2002-11-19

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

  16. Distributed Model Predictive Control over Multiple Groups of Vehicles in Highway Intelligent Space for Large Scale System

    Directory of Open Access Journals (Sweden)

    Tang Xiaofeng

    2014-01-01

    Full Text Available The paper presents the three time warning distances for solving the large scale system of multiple groups of vehicles safety driving characteristics towards highway tunnel environment based on distributed model prediction control approach. Generally speaking, the system includes two parts. First, multiple vehicles are divided into multiple groups. Meanwhile, the distributed model predictive control approach is proposed to calculate the information framework of each group. Each group of optimization performance considers the local optimization and the neighboring subgroup of optimization characteristics, which could ensure the global optimization performance. Second, the three time warning distances are studied based on the basic principles used for highway intelligent space (HIS and the information framework concept is proposed according to the multiple groups of vehicles. The math model is built to avoid the chain avoidance of vehicles. The results demonstrate that the proposed highway intelligent space method could effectively ensure driving safety of multiple groups of vehicles under the environment of fog, rain, or snow.

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

    Directory of Open Access Journals (Sweden)

    Li Zhai

    2017-08-01

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

  18. Modeling Control Strategies and Range Impacts for Electric Vehicle Integrated Thermal Management Systems with MATLAB/Simulink

    Energy Technology Data Exchange (ETDEWEB)

    Titov, Gene; Lustbader, Jason Aaron

    2017-03-28

    The National Renewable Energy Laboratory's (NREL's) CoolSim MATLAB/Simulink modeling framework was used to explore control strategies for an electric vehicle combined loop system. Three system variants of increased complexity and efficiency were explored: a glycol-based positive temperature coefficient heater (PTC), PTC with power electronics and electric motor (PEEM) waste heat recovery, and PTC with PEEM waste heat recovery plus heat pump versions. Additionally, the benefit of electric motor preheating was considered. A two-level control strategy was developed where the mode selection and component control were treated separately. Only the parameters typically available by vehicle sensors were used to control the system. The control approach included a mode selection algorithm and controllers for the compressor speed, cabin blower flow rate, coolant flow rate, and the front-end heat exchanger coolant bypass rate. The electric motor was bypassed by the cooling circuit until its temperature exceeded the coolant inlet temperature. The impact of these thermal systems on electric vehicle range during warmup was simulated for the Urban Dynamometer Driving Schedule (UDDS) and Highway Fuel Economy Test (HWFET2X) drive cycles weighted 45%/55% respectively. A range of ambient temperatures from -20 degrees C to +20 degrees C was considered. NREL's Future Automotive Systems Technology Simulator (FASTSim) vehicle modeling tool showed up to a 10.9% improvement in range for the full system over the baseline during warmup from cold soak. The full system with preheat showed up to 17% improvement in range.

  19. Hybrid vehicle control

    Science.gov (United States)

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

    2015-07-28

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

  20. Performance Evaluation of an Anti-Lock Braking System for Electric Vehicles with a Fuzzy Sliding Mode Controller

    OpenAIRE

    Jingang Guo; Xiaoping Jian; Guangyu Lin

    2014-01-01

    Traditional friction braking torque and motor braking torque can be used in braking for electric vehicles (EVs). A sliding mode controller (SMC) based on the exponential reaching law for the anti-lock braking system (ABS) is developed to maintain the optimal slip value. Parameter optimizing is applied to the reaching law by fuzzy logic control (FLC). A regenerative braking algorithm, in which the motor torque is taken full advantage of, is adopted to distribute the braking force between the m...

  1. Launch Vehicle Control Center Architectures

    Science.gov (United States)

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

    2014-01-01

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

  2. Systems engineering and integration of control centers in support of multiple programs. [ground control for STS payloads and unmanned vehicles

    Science.gov (United States)

    Miller, David N.

    1989-01-01

    The NASA Johnson Space Center's new Multiprogram Control Center (MPCC) addresses the control requirements of complex STS payloads as well as unmanned vehicles. An account is given of the relationship of the MPCC to the STS Mission Control Center, with a view to significant difficulties that may be encountered and solutions thus far devised for generic problems. Examples of MPCC workstation applications encompass telemetry decommutation, engineering unit conversion, data-base management, trajectory processing, and flight design.

  3. Different Control Algorithms for a Platoon of Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Zoran Gacovski

    2014-05-01

    Full Text Available This paper presents a concept of platoon movement of autonomous vehicles (smart cars. These vehicles have Adaptive or Advanced cruise control (ACC system also called Intelligent cruise control (ICC or Adaptive Intelligent cruise control (AICC system. The vehicles are suitable to follow other vehicles on desired distance and to be organized in platoons. To perform a research on the control and stability of an AGV (Automated Guided Vehicles string, we have developed a car-following model. To do this, first a single vehicle is modeled and since all cars in the platoon have the same dynamics, the single vehicle model is copied ten times to form model of platoon (string with ten vehicles. To control this string, we have applied equal PID controllers to all vehicles, except the leading vehicle. These controllers try to keep the headway distance as constant as possible and the velocity error between subsequent vehicles - small. For control of vehicle with nonlinear dynamics combi­nation of feedforward control and feedback control approach is used. Feedforward control is based on the inverse model of nominal dynamics of the vehicle, and feedback PID control is designed based on the linearized model of the vehicle. For simulation and analysis of vehicle and platoon of vehicles – we have developed Matlab/Simulink models. Simulation results, discussions and conclusions are given at the end of the paper.

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

    Science.gov (United States)

    Xu, Bin; Yang, Chenguang; Pan, Yongping

    2015-10-01

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

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

    Directory of Open Access Journals (Sweden)

    Dimitrov Vasil

    2017-01-01

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

  6. Control system considerations for an aluminum-air battery powered electric vehicle

    Science.gov (United States)

    Cox, L. E.; Hassman, G. V.; Post, S. F.

    1980-05-01

    Basic motor controller requirements and tradeoffs between 30 cell and 60 cell aluminum air battery systems were established. A sample controller design was evolved and basic characteristics were evaluated. Advantages of a 60 cell battery system over a 30 cell were found in the areas of control system costs, weights, and efficiency.

  7. Climate control loads prediction of electric vehicles

    International Nuclear Information System (INIS)

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

    2017-01-01

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

  8. Decentralized Control of Autonomous Vehicles

    Science.gov (United States)

    2003-01-01

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

  9. Electric vehicle speed control

    Energy Technology Data Exchange (ETDEWEB)

    Krueger, W.R.; Mc Auliffe, G.N.; Schlageter, G.A.

    1987-06-23

    This patent describes an electric vehicle driven by a DC motor. The vehicle has a field winding, an electric resistance element in circuit with the field winding, a switch in the circuit operative when closed to place. The element in parallel with the field winding weakens the field and increases potential motor speed. Also are relay means for operating the switch, means to determine motor speed, computer means for determining whether the motor speed is increasing or decreasing, and means for operating the relay means to close the switch at a first speed. If the motor speed is increased, it actuates the switch at a second speed lower than the first speed but only if switch has been closed previously and motor speed is decreasing.

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

    Science.gov (United States)

    DeVault, Robert C [Knoxville, TN

    2010-12-14

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

  11. Mobility Systems For Robotic Vehicles

    Science.gov (United States)

    Chun, Wendell

    1987-02-01

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

  12. Wheeled vehicle deceleration as estimation parameter of adaptive brake control system state

    Directory of Open Access Journals (Sweden)

    Turenko A.

    2012-06-01

    Full Text Available The method of stability estimation of adaptive control system with signal adjustment based on Lyapunov’s direct method that allows to take into account the nonstationarity of the basic system and non-linearity in the form of limitation on control action restriction as well as error control is stated.

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

    Science.gov (United States)

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

    2018-02-01

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

  14. A Semiactive and Adaptive Hybrid Control System for a Tracked Vehicle Hydropneumatic Suspension Based on Disturbance Identification

    Directory of Open Access Journals (Sweden)

    Shousong Han

    2017-01-01

    Full Text Available The riding conditions for a high-speed tracked vehicle are quite complex. To enhance the adaptability of suspension systems to different riding conditions, a semiactive and self-adaptive hybrid control strategy based on disturbance velocity and frequency identification was proposed. A mathematical model of the semiactive, self-adaptive hybrid suspension control system, along with a performance evaluation function, was established. Based on a two-degree-of-freedom (DOF suspension system, the kinematic relations and frequency zero-crossing detection method were defined, and expressions for the disturbance velocity and disturbance frequency of the road were obtained. Optimal scheduling of the semiactive hybrid damping control gain (csky, cground, chybrid and self-adaptive control gain (cv under different disturbances were realized by exploiting the particle swarm multiobjective optimization algorithm. An experimental study using a carefully designed test rig was performed under a number of typical riding conditions of tracked vehicles, and the results showed that the proposed control strategy is capable of accurately recognizing different disturbances, shifting between control modes (semiactive/self-adaptive, and scheduling the damping control gain according to the disturbance identification outcomes; hence, the proposed strategy could achieve a good trade-off between ride comfort and ride safety and efficiently increase the overall performance of the suspension under various riding conditions.

  15. Slip control for LIM propelled transit vehicles

    Science.gov (United States)

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

    1980-09-01

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

  16. Vehicle systems: coupled and interactive dynamics analysis

    Science.gov (United States)

    Vantsevich, Vladimir V.

    2014-11-01

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

  17. Cooling system and climate control of fuel cell electric vehicle (FCEV)

    Energy Technology Data Exchange (ETDEWEB)

    Ap, N.S. [Valeo Engine Cooling, La Varriere (France); Cloarec, M.; Rouveyre, L. [PSA-Renault, Trappes (France)

    2000-07-01

    This paper described the special thermal aspects of the fuel cell electric vehicle (FCEV) program established in 1999 by the combined efforts of the two French car manufacturers PSA and Renault. One of the objectives of the program was to examine the climate control and particularly the air conditioning in the passenger compartment which had not been previously studied. The heat dissipation of FCEV is in the order of 2.5 to 3 times higher than that of a comparable internal combustion engine vehicle (ICEV). In addition, the fuel cell powertrain has two temperature levels. The first level is high for the fuel cell stack and the second is low for the electrical, electronic components and other auxiliaries. This paper presented and described each component of two cooling loops along with the heat performance of each type. The first cooling loop used de-ionized water as a coolant, and the second made use of an ethylene-glycol-water mixture as a coolant. The air conditioning capability is a major aspect of the FCEV thermal management. The electrical source availability creates the condition to introduce an enhanced comfort level. Both winter preheating and summer precooling are possible. refs., figs.

  18. Robust Engineered Thermal Control Material Systems for Crew Exploration Vehicle (CEV) and Prometheus Needs, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — identified needs for the thermal control and ESD functions of the Prometheus Program's hardware for the heat rejection system for the planned nuclear system. These...

  19. 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.

  20. Piloted Simulation Evaluation of a Model-Predictive Automatic Recovery System to Prevent Vehicle Loss of Control on Approach

    Science.gov (United States)

    Litt, Jonathan S.; Liu, Yuan; Sowers, Thomas S.; Owen, A. Karl; Guo, Ten-Huei

    2014-01-01

    This paper describes a model-predictive automatic recovery system for aircraft on the verge of a loss-of-control situation. The system determines when it must intervene to prevent an imminent accident, resulting from a poor approach. It estimates the altitude loss that would result from a go-around maneuver at the current flight condition. If the loss is projected to violate a minimum altitude threshold, the maneuver is automatically triggered. The system deactivates to allow landing once several criteria are met. Piloted flight simulator evaluation showed the system to provide effective envelope protection during extremely unsafe landing attempts. The results demonstrate how flight and propulsion control can be integrated to recover control of the vehicle automatically and prevent a potential catastrophe.

  1. Decentralized fuzzy control of multiple nonholonomic vehicles

    Energy Technology Data Exchange (ETDEWEB)

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

    1997-09-01

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

  2. Improving Vehicle Ride and Handling Using LQG CNF Fusion Control Strategy for an Active Antiroll Bar System

    Directory of Open Access Journals (Sweden)

    N. Zulkarnain

    2014-01-01

    Full Text Available This paper analyses a comparison of performance for an active antiroll bar (ARB system using two types of control strategy. First of all, the LQG control strategy is investigated and then a novel LQG CNF fusion control method is developed to improve the performances on vehicle ride and handling for an active antiroll bar system. However, the ARB system has to balance the trade-off between ride and handling performance, where the CNF consists of a linear feedback law and a nonlinear feedback law. Typically, the linear feedback is designed to yield a quick response at the initial stage, while the nonlinear feedback law is used to smooth out overshoots in the system output when it approaches the target reference. The half car model is combined with a linear single track model with roll dynamics which are used for the analysis and simulation of ride and handling. The performances of the control strategies are compared and the simulation results show the LQG CNF fusion improves the performances in vehicle ride and handling.

  3. ANALYSIS OF PERTURBED MOTION STABILITY OF WHEELER VEHICLES BRAKES CONTROL SYSTEM

    Directory of Open Access Journals (Sweden)

    V. Verbytskiyi

    2011-01-01

    Full Text Available The analysis of the perturbed motion stability of the brake automatic control system on the basis of Lyapunov’s second method is carried out. Using transformations of Lurie there has been ob-tained the canonical form of the system of equations of automatic control. It allowed determining the necessary and sufficient conditions of the asymptotic stability of the system irrespective of its initial condition and a definite choice of the admissible characteristic of the regulator.

  4. Velocity Controller for a Class of Vehicles

    Directory of Open Access Journals (Sweden)

    Herman Przemyslaw

    2017-02-01

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

  5. Two-Step System Identification and Primitive-Based Motion Planning for Control of Small Unmanned Aerial Vehicles

    Science.gov (United States)

    Grymin, David J.

    This dissertation addresses motion planning, modeling, and feedback control for autonomous vehicle systems. A hierarchical approach for motion planning and control of nonlinear systems operating in obstacle environments is presented. To reduce computation time during the motion planning process, dynamically feasible trajectories are generated in real-time through concatenation of pre-specified motion primitives. The motion planning task is posed as a search over a directed graph, and the applicability of informed graph search techniques is investigated. Specifically, a locally greedy algorithm with effective backtracking ability is developed and compared to weighted A* search. The greedy algorithm shows an advantage with respect to solution cost and computation time when larger motion primitive libraries that do not operate on a regular state lattice are utilized. Linearization of the nonlinear system equations about the motion primitive library results in a hybrid linear time-varying model, and an optimal control algorithm using the l 2-induced norm as the performance measure is applied to ensure that the system tracks the desired trajectory. The ability of the resulting controller to closely track the trajectory obtained from the motion planner, despite various disturbances and uncertainties, is demonstrated through simulation. Additionally, an approach for obtaining dynamically feasible reference trajectories and feedback controllers for a small unmanned aerial vehicle (UAV) based on an aerodynamic model derived from flight tests is presented. The modeling approach utilizes the two step method (TSM) with stepwise multiple regression to determine relevant explanatory terms for the aerodynamic models. Dynamically feasible trajectories are then obtained through the solution of an optimal control problem using pseudospectral optimal control software. Discretetime feedback controllers are then obtained to regulate the vehicle along the desired reference trajectory

  6. The Design and Simulation of the Modular Vehicle Air Suspension Height Control System Based on ECAS

    Directory of Open Access Journals (Sweden)

    Yang Peigang

    2014-02-01

    Full Text Available Based on ECAS, this paper intended to develop a modular air suspension height control system with WABCO4728800010 two-position three way solenoid valves and Free scale MC9S12D64 microprocessor as its core components. And a simulation test was conducted in MATLAB/Simulink environment. The air suspension height control strategy of this system was divided into four modules: start control module, dynamic adjustment module, manual adjustment module and errors adjustment module, which were controlled by module select switch. Simulation tests indicated that the air suspension height control strategy is featured by its logical control accuracy and debug convenience, and the modular design greatly reduced the system complexity and software development cycle and costs as well.

  7. Development of the heavy manipulator vehicle system

    International Nuclear Information System (INIS)

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

    1993-01-01

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

  8. Fault Tolerant Autonomous Lateral Control for Heavy Vehicles

    OpenAIRE

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

    2004-01-01

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

  9. Systems Challenges for Hypersonic Vehicles

    Science.gov (United States)

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

    1997-01-01

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

  10. Control of Flywheel Energy Storage Systems in Electrical Vehicle Charging Stations

    DEFF Research Database (Denmark)

    Sun, Bo

    energy storage system (FESS). The proposed PhD project supports a corresponding smart control strategy that could be termed “charging station to grid (CS2G)”. It explores the possibility of using a dedicated energy storage system (FESS) within the charging station to alleviate grid and market conditions...... converters is built and analyzed. |Based on modeling analysis, centralized and distributed control methods are both explored to realize the coordination control of each components in the system. Specially, this project proposes a “dc voltage vs speed” droop strategy for FESS control based on distributed bus...... function method when the system switches its operation behavior between two modes. Finally, a downscaled FCS prototype with FESS is built in the intelligent MG lab, and experiments and hardware-in-loop simulation results are conducted to verify the effectiveness and feasibility with the proposed FCS...

  11. Design and Evaluation of a Digital Flight Control System for the FROG Unmanned Aerial Vehicle

    National Research Council Canada - National Science Library

    Flood, Christopher

    2001-01-01

    .... This autopilot imposed significant limitations on the responsiveness of the FROG. This project developed and tested an off board digital flight control system for use in lieu of the previous electromechanical device...

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

    Science.gov (United States)

    Ekrami, Yasamin; Cook, Joseph S.

    2011-01-01

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

  13. Emergency vehicle traffic signal preemption system

    Science.gov (United States)

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

    2011-01-01

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

  14. 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

  15. Optimal control of hybrid vehicles

    CERN Document Server

    Jager, Bram; Kessels, John

    2013-01-01

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

  16. Near-optimal order-reduced control for A/C (air-conditioning) system of EVs (electric vehicles)

    International Nuclear Information System (INIS)

    Chiu, Chien-Chin; Tsai, Nan-Chyuan; Lin, Chun-Chi

    2014-01-01

    This work is aimed to investigate the regulation problem for thermal comfortableness and propose control strategies for cabin environment of EVs (electric vehicles) by constructing a reduced-scale A/C (air-conditioning) system which mainly consists of two modules: ECB (environmental control box) and AHU (air-handling unit). Temperature and humidity in the ECB can be regulated by AHU via cooling, heating, mixing air streams and adjusting speed of fans. To synthesize the near-optimal controllers, the mathematical model for the system thermodynamics is developed by employing the equivalent lumped heat capacity approach, energy/mass conservation principle and the heat transfer theories. In addition, from the clustering pattern of system eigenvalues, the thermodynamics of the interested system can evidently be characterized by two-time-scale property. That is, the studied system can be decoupled into two subsystems, slow mode and fast mode, by singular perturbation technique. As to the optimal control strategies for EVs, by taking thermal comfortableness, humidity and energy consumption all into account, a series of optimal controllers is synthesized on the base of the order-reduced thermodynamic model. The feedback control loop for the experimental test rig is examined and realized by the aid of the control system development kit dSPACE DS1104 and the commercial software MATLAB/Simulink. To sum up, the intensive computer simulations and experimental results verify that the performance of the near-optimal order-reduced control law is almost as superior as that of standard LQR (Linear-Quadratic Regulator). - Highlights: • A reduced-scale test rig for A/C (air-conditioning) system to imitate the temperature/humidity of cabin in EV (electric vehicle) is constructed. • The non-linear thermodynamic model of A/C system can be decoupled by singular perturbation technique. • The temperature/humidity in cabin is regulated to the desired values by proposed optimal

  17. Agent-Oriented Embedded Control System Design and Development of a Vision-Based Automated Guided Vehicle

    Directory of Open Access Journals (Sweden)

    Wu Xing

    2012-07-01

    Full Text Available This paper presents a control system design and development approach for a vision-based automated guided vehicle (AGV based on the multi-agent system (MAS methodology and embedded system resources. A three-phase agent-oriented design methodology Prometheus is used to analyse system functions, construct operation scenarios, define agent types and design the MAS coordination mechanism. The control system is then developed in an embedded implementation containing a digital signal processor (DSP and an advanced RISC machine (ARM by using the multitasking processing capacity of multiple microprocessors and system services of a real-time operating system (RTOS. As a paradigm, an onboard embedded controller is designed and developed for the AGV with a camera detecting guiding landmarks, and the entire procedure has a high efficiency and a clear hierarchy. A vision guidance experiment for our AGV is carried out in a space-limited laboratory environment to verify the perception capacity and the onboard intelligence of the agent-oriented embedded control system.

  18. Stability Control of Vehicle Emergency Braking with Tire Blowout

    OpenAIRE

    Chen, Qingzhang; Liu, Youhua; Li, Xuezhi

    2014-01-01

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

  19. Automated mixed traffic transit vehicle microprocessor controller

    Science.gov (United States)

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

    1981-01-01

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

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

    CERN Document Server

    Pettersen, Kristin; Nijmeijer, Henk

    2017-01-01

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

  1. Electric vehicle energy management system

    Science.gov (United States)

    Alaoui, Chakib

    This thesis investigates and analyzes novel strategies for the optimum energy management of electric vehicles (EVs). These are aimed to maximize the useful life of the EV batteries and make the EV more practical in order to increase its acceptability to market. The first strategy concerns the right choice of the batteries for the EV according to the user's driving habits, which may vary. Tests conducted at the University of Massachusetts Lowell battery lab show that the batteries perform differently from one manufacturer to the other. The second strategy was to investigate the fast chargeability of different batteries, which leads to reduce the time needed to recharge the EV battery pack. Tests were conducted again to prove that only few battery types could be fast charged. Test data were used to design a fast battery charger that could be installed in an EV charging station. The third strategy was the design, fabrication and application of an Electric Vehicle Diagnostic and Rejuvenation System (EVDRS). This system is based on Mosfet Controlled Thyristors (MCTs). It is capable of quickly identifying any failing battery(s) within the EV pack and rejuvenating the whole battery pack without dismantling them and unloading them. A novel algorithm to rejuvenate Electric Vehicle Sealed Lead Acid Batteries is described. This rejuvenation extends the useful life of the batteries and makes the EV more competitive. The fourth strategy was to design a thermal management system for EV, which is crucial to the safe operation, and the achievement of normal/optimal performance of, electric vehicle (EV) batteries. A novel approach for EV thermal management, based on Pettier-Effect heat pumps, was designed, fabricated and tested in EV. It shows the application of this type of technology for thermal management of EVs.

  2. Electric vehicle motors and controllers

    Science.gov (United States)

    Secunde, R. R.

    1981-01-01

    Improved and advanced components being developed include electronically commutated permanent magnet motors of both drum and disk configuration, an unconventional brush commutated motor, and ac induction motors and various controllers. Test results on developmental motors, controllers, and combinations thereof indicate that efficiencies of 90% and higher for individual components, and 80% to 90% for motor/controller combinations can be obtained at rated power. The simplicity of the developmental motors and the potential for ultimately low cost electronics indicate that one or more of these approaches to electric vehicle propulsion may eventually displace presently used controllers and brush commutated dc motors.

  3. Neural network control of a parallel hybrid-electric propulsion system for a small unmanned aerial vehicle

    Science.gov (United States)

    Harmon, Frederick G.

    2005-11-01

    Parallel hybrid-electric propulsion systems would be beneficial for small unmanned aerial vehicles (UAVs) used for military, homeland security, and disaster-monitoring missions. The benefits, due to the hybrid and electric-only modes, include increased time-on-station and greater range as compared to electric-powered UAVs and stealth modes not available with gasoline-powered UAVs. This dissertation contributes to the research fields of small unmanned aerial vehicles, hybrid-electric propulsion system control, and intelligent control. A conceptual design of a small UAV with a parallel hybrid-electric propulsion system is provided. The UAV is intended for intelligence, surveillance, and reconnaissance (ISR) missions. A conceptual design reveals the trade-offs that must be considered to take advantage of the hybrid-electric propulsion system. The resulting hybrid-electric propulsion system is a two-point design that includes an engine primarily sized for cruise speed and an electric motor and battery pack that are primarily sized for a slower endurance speed. The electric motor provides additional power for take-off, climbing, and acceleration and also serves as a generator during charge-sustaining operation or regeneration. The intelligent control of the hybrid-electric propulsion system is based on an instantaneous optimization algorithm that generates a hyper-plane from the nonlinear efficiency maps for the internal combustion engine, electric motor, and lithium-ion battery pack. The hyper-plane incorporates charge-depletion and charge-sustaining strategies. The optimization algorithm is flexible and allows the operator/user to assign relative importance between the use of gasoline, electricity, and recharging depending on the intended mission. A MATLAB/Simulink model was developed to test the control algorithms. The Cerebellar Model Arithmetic Computer (CMAC) associative memory neural network is applied to the control of the UAVs parallel hybrid

  4. Labview Application For A Vehicle Control

    Directory of Open Access Journals (Sweden)

    Douglas Paladine Vieira

    2002-01-01

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

  5. Electric vehicle data acquisition system

    DEFF Research Database (Denmark)

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

    2014-01-01

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

  6. Vehicle following controller design for autonomous intelligent vehicles

    Science.gov (United States)

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

    1994-01-01

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

  7. Tensegrity Models and Shape Control of Vehicle Formations

    OpenAIRE

    Nabet, Benjamin; Leonard, Naomi Ehrich

    2009-01-01

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

  8. Systems Engineering Approach to Develop Guidance, Navigation and Control Algorithms for Unmanned Ground Vehicle

    Science.gov (United States)

    2016-09-01

    Global Positioning System HNA hybrid navigation algorithm HRI human-robot interface IED Improvised Explosive Device IMU inertial measurement unit...Potential Field Method R&D research and development RDT&E Research, development, test and evaluation RF radiofrequency RGB red, green and blue ROE...were radiofrequency (RF) controlled and pneumatically actuated upon receiving the wireless commands from the radio operator. The pairing of such an

  9. 76 FR 55829 - Federal Motor Vehicle Safety Standards; Electronic Stability Control Systems

    Science.gov (United States)

    2011-09-09

    ... April 2007 final rule described NHTSA's intent to begin formal work to develop a global technical... specifies two sizes of outriggers. The Alliance noted that European and Asian markets have a larger... requirements of the Vehicle Safety Act, the Regulatory Flexibility Act, Executive Order 13132 (Federalism...

  10. Automated mixed traffic vehicle control and scheduling study

    Science.gov (United States)

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

    1976-01-01

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

  11. Provision of Flexible Load Control by Multi-Flywheel-Energy-Storage System in Electrical Vehicle Charging Stations

    DEFF Research Database (Denmark)

    Sun, Bo; Dragicevic, Tomislav; Andrade, Fabio

    2015-01-01

    in order to support basic electrical operation. This paper proposes a local implementation of a hysteresis-based aggregation algorithm for coordinated control of multiple stations that can provide functions such as peak shaving, spinning reserves, frequency control, regulation and load following. Local......Electrical vehicle (EV) chargers are going to occupy a considerable portion of total energy consumption in the future smart grid. Fast charging stations (FCS), as the most demanding representatives of charging infrastructure, will be requested to provide some ancillary services to the power system...... stability. Finally, corresponding hardware in the loop results based on dSPACE1006 platform have been reported in order to verify the validity of proposed approach....

  12. Quality Control Algorithms and Proposed Integration Process for Wind Profilers Used by Launch Vehicle Systems

    Science.gov (United States)

    Decker, Ryan; Barbre, Robert E., Jr.

    2011-01-01

    Impact of winds to space launch vehicle include Design, Certification Day-of-launch (DOL) steering commands (1)Develop "knockdowns" of load indicators (2) Temporal uncertainty of flight winds. Currently use databases from weather balloons. Includes discrete profiles and profile pair datasets. Issues are : (1)Larger vehicles operate near design limits during ascent 150 discrete profiles per month 110-217 seasonal 2.0 and 3.5-hour pairs Balloon rise time (one hour) and drift (up to 100 n mi) Advantages of the Alternative approach using Doppler Radar Wind Profiler (DRWP) are: (1) Obtain larger sample size (2) Provide flexibility for assessing trajectory changes due to winds (3) Better representation of flight winds.

  13. Control of Flywheel Energy Storage Systems in Electrical Vehicle Charging Stations

    OpenAIRE

    Sun, Bo

    2017-01-01

    Growing environmental awareness and strong political impetus have resulted in plug-in electric vehicles (PEV) becoming ever more attractive means of transportation. They are expected to have a significant impact to the overall loading of future distribution networks. Thus, current distribution grids need to be updated in order to accommodate PEV fleets, which are recognized in smart grid (SG) objective. The prevailing concern in that sense is the combined impact of a large number of randomly ...

  14. Rail Vehicle Vibrations Control Using Parameters Adaptive PID Controller

    Directory of Open Access Journals (Sweden)

    Muzaffer Metin

    2014-01-01

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

  15. Ecient Parameter Estimation and Control Based on a Modified LOS Guidance System of an Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Elías Revestido Herrero

    2017-12-01

    Full Text Available In this work, a methodology is proposed for the improvement of the parameter estimation effciency of a non-linear manoeuvring model of a torpedo shaped unmanned underwater vehicle. For this purpose, data from different tests, were carried out with the aforementioned vehicle at the facilities of the Canal de Experiencias Hidrodinámicas del Pardo, Madrid. In the proposed methodology, the following aspects are taken into account in order to improve the parameter estimation effciency: selection of the sampling period, smoothing of the data acquired in the tests considering a compromise between variance and bias of the smoothing filter to be applied, analysis of the classical linear regression model proposed in each trial, from the statistical point of view for the estimation of the parameters. Improvements in effciency are verified by graphical and statistical methods. In addition, a modification of the conventional LOS method is proposed which provides satisfactory results in the presence of ocean currents by performing a simple procedure.

  16. A New Fuzzy Sliding Mode Controller with a Disturbance Estimator for Robust Vibration Control of a Semi-Active Vehicle Suspension System

    Directory of Open Access Journals (Sweden)

    Byung-Keun Song

    2017-10-01

    Full Text Available This paper presents a new fuzzy sliding mode controller (FSMC to improve control performances in the presence of uncertainties related to model errors and external disturbance (UAD. As a first step, an adaptive control law is designed using Lyapunov stability analysis. The control law can update control parameters of the FSMC with a disturbance estimator (DE in which the closed-loop stability and finite-time convergence of tracking error are guaranteed. A solution for estimating the compensative quantity of the impact of UAD on a control system and a set of solutions are then presented in order to avoid the singular cases of the fuzzy-based function approximation, increase convergence ability, and reduce the calculating cost. Subsequently, the effectiveness of the proposed controller is verified through the investigation of vibration control performances of a semi-active vehicle suspension system featuring a magnetorheological damper (MRD. It is shown that the proposed controller can provide better control ability of vibration control with lower consumed power compared with two existing fuzzy sliding mode controllers.

  17. 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.

  18. 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.

  19. Virtual sensors for advanced vehicle stability control

    NARCIS (Netherlands)

    Leenen, R.; Schouten, H.

    2010-01-01

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

  20. 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.

  1. Performance Evaluation of an Anti-Lock Braking System for Electric Vehicles with a Fuzzy Sliding Mode Controller

    Directory of Open Access Journals (Sweden)

    Jingang Guo

    2014-10-01

    Full Text Available Traditional friction braking torque and motor braking torque can be used in braking for electric vehicles (EVs. A sliding mode controller (SMC based on the exponential reaching law for the anti-lock braking system (ABS is developed to maintain the optimal slip value. Parameter optimizing is applied to the reaching law by fuzzy logic control (FLC. A regenerative braking algorithm, in which the motor torque is taken full advantage of, is adopted to distribute the braking force between the motor braking and the hydraulic braking. Simulations were carried out with Matlab/Simulink. By comparing with a conventional Bang-bang ABS controller, braking stability and passenger comfort is improved with the proposed SMC controller, and the chatting phenomenon is reduced effectively with the parameter optimizing by FLC. With the increasing proportion of the motor braking torque, the tracking of the slip ratio is more rapid and accurate. Furthermore, the braking distance is shortened and the conversion energy is enhanced.

  2. Resonant mode controllers for launch vehicle applications

    Science.gov (United States)

    Schreiner, Ken E.; Roth, Mary Ellen

    1992-01-01

    Electro-mechanical actuator (EMA) systems are currently being investigated for the National Launch System (NLS) as a replacement for hydraulic actuators due to the large amount of manpower and support hardware required to maintain the hydraulic systems. EMA systems in weight sensitive applications, such as launch vehicles, have been limited to around 5 hp due to system size, controller efficiency, thermal management, and battery size. Presented here are design and test data for an EMA system that competes favorably in weight and is superior in maintainability to the hydraulic system. An EMA system uses dc power provided by a high energy density bipolar lithium thionyl chloride battery, with power conversion performed by low loss resonant topologies, and a high efficiency induction motor controlled with a high performance field oriented controller to drive a linear actuator.

  3. Vehicle speed control using road bumps

    Directory of Open Access Journals (Sweden)

    T. A. O. Salau

    2004-06-01

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

  4. A Novel Control Algorithm for Integration of Active and Passive Vehicle Safety Systems in Frontal Collisions

    Directory of Open Access Journals (Sweden)

    Daniel Wallner

    2010-10-01

    Full Text Available The present paper investigates an approach to integrate active and passive safety systems of passenger cars. Worldwide, the introduction of Integrated Safety Systems and Advanced Driver Assistance Systems (ADAS is considered to continue the today

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

    NARCIS (Netherlands)

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

    2010-01-01

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

  6. Design and Control of a Multi-Functional Energy Recovery Power Accumulator Battery Pack Testing System for Electric Vehicles

    Directory of Open Access Journals (Sweden)

    Bo Long

    2014-03-01

    Full Text Available In this paper, aiming at the energy loss and harmonic problems in the conventional power accumulator battery pack testing system (PABPTS, an improved multi-functional energy recovery PABPTS (ERPABPTS for electric vehicles (EVs was proposed. The improved system has the functions of harmonic detection, suppression, reactive compensation and energy recovery. The ERPABPTS, which contains a bi-directional buck-boost direct current (DC-DC converter and a bi-directional alternating current (AC-DC converter with an inductor-capacitor-inductor (LCL type filter interfacing to the AC-grid, is proposed. System configuration and operation principle of the combined system are discussed first, then, the reactive compensation and harmonic suppression controller under balanced grid-voltage condition are presented. Design of a fourth order band-pass Butterworth filter for current harmonic detection is put forward, and the reactive compensator design procedure considering the non-linear load is also illustrated. The proposed scheme is implemented in a 175-kW prototype in the laboratory. Simulation and experimental results show that the combined configuration can effectively realize energy recovery for high accuracy current test requirement, meanwhile, can effectively achieve reactive compensation and current harmonic suppression.

  7. Cross-linked chitosan-dextran sulphate vehicle system for controlled release of ciprofloxaxin drug: An ophthalmic application

    Directory of Open Access Journals (Sweden)

    Chetan Chavan

    2017-01-01

    Full Text Available The major challenge associated with conventional eye-drop is the rapid drug loss due to precorneal defence barrier. In this context, controlled-release system of ciprofloxacin-conjugated chitosan (CS-Dextran sulphate (DS nanoparticles (NPs have been synthesized, to increase the bioavailability. The formulated drug delivery vehicle was evaluated for its therapeutic value in the simulated tear fluidat pH 7.4. Ophthalmic microbes were tested with this formulation, to confirm the drug efficacy; which showed conducive therapeutic values of both MIC and MBC. Ocular irritancy test was performed using HET-CAM test, which showed that the CS-DS system did not yield any vascular response, offering it to be a non-irritant to the ocular surface. The release studies showed monotonous controlled-release for duration of 21 h. A fine cross-linking between CS and DS has been demonstrated to form CS-DS NPs and their interaction with drug has been evaluated using conventional characterization tools.

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

    NARCIS (Netherlands)

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

    2015-01-01

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

  9. Flexible Local Load Controller for Fast ElectricVehicle Charging Station Supplemented with Flywheel Energy Storage System

    DEFF Research Database (Denmark)

    Dragicevic, Tomislav; SUN, BO; Schaltz, Erik

    2014-01-01

    Electric vehicle charging infrastructure is hitting the stage where its impact on performance and operation of power systems becomes more and more pronounced. Aiming to utilize the existing power distribution infrastructure and delay its expansion, an approach that includes installation of dedica......Electric vehicle charging infrastructure is hitting the stage where its impact on performance and operation of power systems becomes more and more pronounced. Aiming to utilize the existing power distribution infrastructure and delay its expansion, an approach that includes installation...... of dedicated flywheel energy storage system (FESS) within the charging station and compensating some of the adverse effects of high power charging is explored in this paper. Although sharing some similarities with vehicle to grid (V2G) technology, the principal advantage of this strategy is the fact that many...

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

    Indian Academy of Sciences (India)

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

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

    Science.gov (United States)

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

    2018-04-01

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

  12. Definition, technology readiness, and development cost of the orbit transfer vehicle engine integrated control and health monitoring system elements

    Science.gov (United States)

    Cannon, I.; Balcer, S.; Cochran, M.; Klop, J.; Peterson, S.

    1991-01-01

    An Integrated Control and Health Monitoring (ICHM) system was conceived for use on a 20 Klb thrust baseline Orbit Transfer Vehicle (OTV) engine. Considered for space used, the ICHM was defined for reusability requirements for an OTV engine service free life of 20 missions, with 100 starts and a total engine operational time of 4 hours. Functions were derived by flowing down requirements from NASA guidelines, previous OTV engine or ICHM documents, and related contracts. The elements of an ICHM were identified and listed, and these elements were described in sufficient detail to allow estimation of their technology readiness levels. These elements were assessed in terms of technology readiness level, and supporting rationale for these assessments presented. The remaining cost for development of a minimal ICHM system to technology readiness level 6 was estimated. The estimates are within an accuracy range of minus/plus 20 percent. The cost estimates cover what is needed to prepare an ICHM system for use on a focussed testbed for an expander cycle engine, excluding support to the actual test firings.

  13. Control of quality in the tests of systems of containment of vehicles. Intercomparison of the results of the tests; Control de calidad en los ensayos de sistemas de contencion de vehiculos. Intercomparacion de los resultados de los ensayos

    Energy Technology Data Exchange (ETDEWEB)

    Lopez Ramos, S.

    2009-07-01

    This article tries to offer information on how Central Laboratory of Structures and Materials are made the tests for Marca N of AENOR of the systems of containment of vehicles and its control of external quality. (Author) 15 refs.

  14. Data Description Exchange Services for Heterogeneous Vehicle and Spaceport Control and Monitor Systems, Phase II

    Data.gov (United States)

    National Aeronautics and Space Administration — CCT has designed and prototyped, as part of the Phase-1 SBIR, a generic platform independent software capability for exchange of semantic control and monitoring...

  15. Cooperative Control of Distributed Autonomous Vehicles in Adversarial Environments

    Science.gov (United States)

    2006-08-14

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

  16. Data Description Exchange Services for Heterogeneous Vehicle and Spaceport Control and Monitor Systems, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — CCT proposes an advanced data description exchange approach for space/spaceport systems that will provide a generic platform independent software capability for...

  17. Space and Missile Systems Center Standard: Parts, Materials, and Processes Control Program for Space Vehicles

    Science.gov (United States)

    2013-04-12

    preparation , implementation, and operation of a Parts, Materials, and Processes (PMP) control program for use during the design, development...Processes List CDR Critical Design Review CDRL Contract Data Requirements List CMOS Complementary Metal Oxide Semiconductor CONOPS Concept of Operations...Failure Review Board GFE Government Furnished Equipment GIDEP Government Industry Data Exchange Program HBT Heterojunction Bipolar Transistor IPT

  18. Sensory perception. [role of human vestibular system in dynamic space perception and manual vehicle control

    Science.gov (United States)

    1974-01-01

    The effect of motion on the ability of men to perform a variety of control actions was investigated. Special attention was given to experimental and analytical studies of the dynamic characteristics of the otoliths and semicircular canals using a two axis angular motion simulator and a one axis linear motion simulator.

  19. 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...

  20. Workshop report : joint workshop on liability issues in advanced vehicle control and automated highway systems

    Science.gov (United States)

    1997-02-05

    The National Automated Highway System Consortium (NAHSC), ITS America and the American Association of State Highway & Transportation Officials (AASHTO) co-sponsored a two-day workshop in Washington, DC on February 5-6, 1997 to examine the liability i...

  1. Monitoring overloaded vehicles: Improving traffic control centre performance by using management information systems

    CSIR Research Space (South Africa)

    Muronga, K

    2016-07-01

    Full Text Available Decision making is an important function of management and to facilitate decision making that is relevant to any organisation, it is imperative that managers have the correct information at the right time. Since the 1990’s, the Transport Systems...

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

    OpenAIRE

    METİN, Muzaffer; GÜÇLÜ, Rahmi

    2014-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Bongsob Song

    2014-01-01

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

  4. Network Constrained Transactive Control for Electric Vehicles Integration

    DEFF Research Database (Denmark)

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

    2015-01-01

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

  5. Oceanids command and control (C2) data system - Marine autonomous systems data for vehicle piloting, scientific data users, operational data assimilation, and big data

    Science.gov (United States)

    Buck, J. J. H.; Phillips, A.; Lorenzo, A.; Kokkinaki, A.; Hearn, M.; Gardner, T.; Thorne, K.

    2017-12-01

    The National Oceanography Centre (NOC) operate a fleet of approximately 36 autonomous marine platforms including submarine gliders, autonomous underwater vehicles, and autonomous surface vehicles. Each platform effectivity has the capability to observe the ocean and collect data akin to a small research vessel. This is creating a growth in data volumes and complexity while the amount of resource available to manage data remains static. The OceanIds Command and Control (C2) project aims to solve these issues by fully automating the data archival, processing and dissemination. The data architecture being implemented jointly by NOC and the Scottish Association for Marine Science (SAMS) includes a single Application Programming Interface (API) gateway to handle authentication, forwarding and delivery of both metadata and data. Technicians and principle investigators will enter expedition data prior to deployment of vehicles enabling automated data processing when vehicles are deployed. The system will support automated metadata acquisition from platforms as this technology moves towards operational implementation. The metadata exposure to the web builds on a prototype developed by the European Commission supported SenseOCEAN project and is via open standards including World Wide Web Consortium (W3C) RDF/XML and the use of the Semantic Sensor Network ontology and Open Geospatial Consortium (OGC) SensorML standard. Data will be delivered in the marine domain Everyone's Glider Observatory (EGO) format and OGC Observations and Measurements. Additional formats will be served by implementation of endpoints such as the NOAA ERDDAP tool. This standardised data delivery via the API gateway enables timely near-real-time data to be served to Oceanids users, BODC users, operational users and big data systems. The use of open standards will also enable web interfaces to be rapidly built on the API gateway and delivery to European research infrastructures that include aligned

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

    Directory of Open Access Journals (Sweden)

    Xiao-Yun Lu

    2014-01-01

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

  7. Autonomous control of a locomotion vehicle

    International Nuclear Information System (INIS)

    Ichikawa, Yoshiaki; Senoh, Makoto; Miyata, Kenji

    1984-01-01

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

  8. FY2015 Vehicle Systems Annual Progress Report

    Energy Technology Data Exchange (ETDEWEB)

    None, None

    2016-01-31

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

  9. Development II of ion current combustion control system. Application to the lean burn system of the micro vehicle engine; Ion denryu wo mochiita nensho seigyo system no kaihatsu. 2. Keijidosha engine wo mochiita lean burn eno oyo

    Energy Technology Data Exchange (ETDEWEB)

    Iida, T; Asano, M; Kajitani, M; Kuma, t; Morinaga, Y [Daihatsu Motor Co. Ltd., Osaka (Japan)

    1997-10-01

    The lean bum engine has not been introduced into the micro vehicle so far because of the low cost requirement and small displacement, in spite of it is one of the effective solutions which increase the fuel economy. By the way, we had already reported in the former paper that we developed the ion current combustion control system the architecture of which is cheaper than the other system. In this paper, we described the way how the above system is applied to the lean burn system of the micro vehicle engine and also we reported the gain of fuel economy and the exhaust emission level. 5 refs., 11 figs., 2 tabs.

  10. NET in-vessel vehicle system

    International Nuclear Information System (INIS)

    Jones, H.

    1991-02-01

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

  11. Introducing Dual Suspension System in Road Vehicles

    OpenAIRE

    Imtiaz Hussain; Jawaid Daudpoto; Ali Asghar Memon

    2013-01-01

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

  12. Tasking and control of a squad of robotic vehicles

    Science.gov (United States)

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

    2001-09-01

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

  13. Reducing the risk of rear-end collisions with infrastructure-to-vehicle (I2V) integration of variable speed limit control and adaptive cruise control system.

    Science.gov (United States)

    Li, Ye; Wang, Hao; Wang, Wei; Liu, Shanwen; Xiang, Yun

    2016-08-17

    Adaptive cruise control (ACC) has been investigated recently to explore ways to increase traffic capacity, stabilize traffic flow, and improve traffic safety. However, researchers seldom have studied the integration of ACC and roadside control methods such as the variable speed limit (VSL) to improve safety. The primary objective of this study was to develop an infrastructure-to-vehicle (I2V) integrated system that incorporated both ACC and VSL to reduce rear-end collision risks on freeways. The intelligent driver model was firstly modified to simulate ACC behavior and then the VSL strategy used in this article was introduced. Next, the I2V system was proposed to integrate the 2 advanced techniques, ACC and VSL. Four scenarios of no control, VSL only, ACC only, and the I2V system were tested in simulation experiments. Time exposed time to collision (TET) and time integrated time to collision (TIT), 2 surrogate safety measures derived from time to collision (TTC), were used to evaluate safety issues associated with rear-end collisions. The total travel times of each scenario were also compared. The simulation results indicated that both the VSL-only and ACC-only methods had a positive impact on reducing the TET and TIT values (reduced by 53.0 and 58.6% and 59.0 and 65.3%, respectively). The I2V system combined the advantages of both ACC and VSL to achieve the most safety benefits (reduced by 71.5 and 77.3%, respectively). Sensitivity analysis of the TTC threshold also showed that the I2V system obtained the largest safety benefits with all of the TTC threshold values. The impact of different market penetration rates of ACC vehicles in I2V system indicated that safety benefits increase with an increase in ACC proportions. Compared to VSL-only and ACC-only scenarios, this integrated I2V system is more effective in reducing rear-end collision risks. The findings of this study provide useful information for traffic agencies to implement novel techniques to improve

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

    Science.gov (United States)

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

    2011-07-01

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

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

    Directory of Open Access Journals (Sweden)

    Hong Cho

    2014-01-01

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

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

    OpenAIRE

    Hessburg, Thomas; Tomizuka, Masayoshi

    1991-01-01

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

  17. Control of Multiple Robotic Sentry Vehicles

    Energy Technology Data Exchange (ETDEWEB)

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

    1999-04-01

    As part of a project for the Defense Advanced Research Projects Agency, Sandia National Laboratories is developing and testing the feasibility of using of a cooperative team of robotic sentry vehicles to guard a perimeter and to perform surround and diversion tasks. This paper describes on-going activities in the development of these robotic sentry vehicles. To date, we have developed a robotic perimeter detection system which consists of eight ''Roving All Terrain Lunar Explorer Rover'' (RATLER{trademark}) vehicles, a laptop-based base-station, and several Miniature Intrusion Detection Sensors (MIDS). A radio frequency receiver on each of the RATLER vehicles alerts the sentry vehicles of alarms from the hidden MIDS. When an alarm is received, each vehicle decides whether it should investigate the alarm based on the proximity of itself and the other vehicles to the alarm. As one vehicle attends an alarm, the other vehicles adjust their position around the perimeter to better prepare for another alarm. We have also demonstrated the ability to drive multiple vehicles in formation via tele-operation or by waypoint GPS navigation. This is currently being extended to include mission planning capabilities. At the base-station, the operator can draw on an aerial map the goal regions to be surrounded and the repulsive regions to be avoided. A potential field path planner automatically generates a path from the vehicles' current position to the goal regions while avoiding the repulsive regions and the other vehicles. This path is previewed to the operator before the regions are downloaded to the vehicles. The same potential field path planner resides on the vehicle, except additional repulsive forces from on-board proximity sensors guide the vehicle away from unplanned obstacles.

  18. Tactical Vehicle Climate Control Testing

    Science.gov (United States)

    2017-03-31

    1979. b. TOP 02-2-708, Vehicle Personnel Heater Compatibility, 18 July 1980. c. Society of Automotive Engineers (SAE) J381, Surface Vehicle...Total Irradiance Second Class minimum, First Class recommended Engine speed ± 10 revolutions per minute (rpm) Air pressure (as appropriate) ± 1...digital camera is suggest to photograph all instrumentation locations. A tape measure, a graduated cylinder and an electric paint sprayer are required

  19. Automatic Control of Personal Rapid Transit Vehicles

    Science.gov (United States)

    Smith, P. D.

    1972-01-01

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

  20. Control of Supercavitating Vehicles using Transverse Jets

    Science.gov (United States)

    2016-03-15

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

  1. Importance Of Quality Control in Reducing System Risk, a Lesson Learned From The Shuttle and a Recommendation for Future Launch Vehicles

    Science.gov (United States)

    Safie, Fayssal M.; Messer, Bradley P.

    2006-01-01

    This paper presents lessons learned from the Space Shuttle return to flight experience and the importance of these lessons learned in the development of new the NASA Crew Launch Vehicle (CLV). Specifically, the paper discusses the relationship between process control and system risk, and the importance of process control in improving space vehicle flight safety. It uses the External Tank (ET) Thermal Protection System (TPS) experience and lessons learned from the redesign and process enhancement activities performed in preparation for Return to Flight after the Columbia accident. The paper also, discusses in some details, the Probabilistic engineering physics based risk assessment performed by the Shuttle program to evaluate the impact of TPS failure on system risk and the application of the methodology to the CLV.

  2. Wireless Control of Miniaturized Mobile Vehicle for Indoor Surveillance

    International Nuclear Information System (INIS)

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

    2013-01-01

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

  3. Embedded system design to control the entry and exit of vehicles online, at the main access of ESPOCH

    Directory of Open Access Journals (Sweden)

    Javier J. Gavilanes

    2018-02-01

    Full Text Available In this research a embedded real-time system was developed by using Raspberry Pi3 (a reduced board computer, which is an equipment with a camera placed in strategic points of the mechanic arms at the main entrance and exit of Escuela Superior Politécnica de Chimborazo, this equipment captures images of vehicles that enter and exit the campus and the information is extracted through the implementation of a segmentation algorithm written in Python programming language and the collaboration of artificial vision bookstores offered by OpenCV, processing techniques were applied to extract the vehicle plate from the location scenery. Then, an Optical Character Recognition (OCR algorithm also known as K-Nearest Neighbours (KNN was applied, which after a training phase is able to identify letters and numbers on the automobile plates, the information is stored in the entrance database and it is deleted when the automobile exits the campus.

  4. Method of controlling innovative articulation for articulated vehicle

    Directory of Open Access Journals (Sweden)

    Szumilas Mateusz

    2018-01-01

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

  5. In-Vehicle Information Systems

    Directory of Open Access Journals (Sweden)

    Gordana Štefančić

    2012-10-01

    Full Text Available The work considers different information systems, includingthe infonnation ~ystems with autonomous units, whichcany all their intelligence around with them, and those withcommunicating units, which infonn the motorist about the currentsituation of the road system by radio or other means. Thesymbols of various messages have three main objectives: to provideinstruction, to warn of oncoming dange1~ or to give adviceregarding parking or looking for altemative routes. When notused for these pwposes, they are used to provide general informationabout the weathe1~ temperature or possible attractions.The in-vehicle information systems fly to assist the motorist indriving, and they are promoted as part of the comprehensive intelligenttransport system.

  6. Vehicle fault diagnostics and management system

    Science.gov (United States)

    Gopal, Jagadeesh; Gowthamsachin

    2017-11-01

    This project is a kind of advanced automatic identification technology, and is more and more widely used in the fields of transportation and logistics. It looks over the main functions with like Vehicle management, Vehicle Speed limit and Control. This system starts with authentication process to keep itself secure. Here we connect sensors to the STM32 board which in turn is connected to the car through Ethernet cable, as Ethernet in capable of sending large amounts of data at high speeds. This technology involved clearly shows how a careful combination of software and hardware can produce an extremely cost-effective solution to a problem.

  7. Active vibration control of vehicle suspension systems using sliding modes, differential flatness and generalized proportional-integral control

    Directory of Open Access Journals (Sweden)

    Esteban Chávez Conde

    2011-01-01

    Full Text Available En este artículo se presenta un enfoque de diseño de esquemas de control activo robusto para sistemas de suspensión de vehículos, usando técnicas de control Proporcional-Integral Generalizado, modos deslizantes y planitud diferencial, para atenuar vibraciones indeseables inducidas por perturbaciones de terreno irregular. Se proponen dos esquemas de control: uno de ellos emplea mediciones de posición y de velocidad y el otro requiere únicamente mediciones de posición. Se propone la reconstrucción integral de las derivadas de la salida plana para evitar el uso de sensores de velocidad y de aceleración, así como la información de perturbaciones de terreno desconocidas.

  8. OPTIMAL CONTROL FOR ELECTRIC VEHICLE STABILIZATION

    Directory of Open Access Journals (Sweden)

    MARIAN GAICEANU

    2016-01-01

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

  9. Canadian high speed magnetically levitated vehicle system

    Energy Technology Data Exchange (ETDEWEB)

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

    1978-04-01

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

  10. Logistic Vehicle System Replacement Cost Estimate

    National Research Council Canada - National Science Library

    Stinson, Margaret

    1998-01-01

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

  11. Cooperative Control of Multiple Unmanned Autonomous Vehicles

    Science.gov (United States)

    2005-06-03

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

  12. OPTIMUM PROGRAMMABLE CONTROL OF UNMANNED FLYING VEHICLE

    Directory of Open Access Journals (Sweden)

    A. А. Lobaty

    2012-01-01

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

  13. Study and performances analysis of fuel cell assisted vector control variable speed drive system used for electric vehicles

    Science.gov (United States)

    Pachauri, Rupendra Kumar; Chauhan, Yogesh K.

    2017-02-01

    This paper is a novel attempt to combine two important aspects of fuel cell (FC). First, it presents investigations on FC technology and its applications. A description of FC operating principles is followed by the comparative analysis of the present FC technologies together with the issues concerning various fuels. Second, this paper also proposes a model for the simulation and performances evaluation of a proton exchange membrane fuel cell (PEMFC) generation system. Furthermore, a MATLAB/Simulink-based dynamic model of PEMFC is developed and parameters of FC are so adjusted to emulate a commercially available PEMFC. The system results are obtained for the PEMFC-driven adjusted speed induction motor drive (ASIMD) system, normally used in electric vehicles and analysis is carried out for different operating conditions of FC and ASIMD system. The obtained results prove the validation of system concept and modelling.

  14. Control Allocation for Overactuated Systems

    National Research Council Canada - National Science Library

    Oppenheimer, Michael W; Doman, David B

    2006-01-01

    Much emphasis has been placed on overactuated systems for air vehicles. Overactuating an air vehicle provides a certain amount of redundancy for the flight control system, thus potentially allowing for recovery from off-nominal conditions...

  15. Emissions control techniques applied to industrial vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Martin, B.

    2004-12-15

    As emission standards for industrial vehicles become increasingly stringent, many research projects are seeking to develop after-treatment systems. These systems will have to combine efficiency, durability and low operating cost.

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

    Science.gov (United States)

    Craig, J.; Yerazunis, S. W.

    1978-01-01

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

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

    Science.gov (United States)

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

    2005-06-01

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

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

    Science.gov (United States)

    Tanaka, K; Kosaki, T

    1997-01-01

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

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

    Directory of Open Access Journals (Sweden)

    D. Y. Kong

    2014-01-01

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

  20. Robust adaptive control for Unmanned Aerial Vehicles

    Science.gov (United States)

    Kahveci, Nazli E.

    The objective of meeting higher endurance requirements remains a challenging task for any type and size of Unmanned Aerial Vehicles (UAVs). According to recent research studies significant energy savings can be realized through utilization of thermal currents. The navigation strategies followed across thermal regions, however, are based on rather intuitive assessments of remote pilots and lack any systematic path planning approaches. Various methods to enhance the autonomy of UAVs in soaring applications are investigated while seeking guarantees for flight performance improvements. The dynamics of the aircraft, small UAVs in particular, are affected by the environmental conditions, whereas unmodeled dynamics possibly become significant during aggressive flight maneuvers. Besides, the demanded control inputs might have a magnitude range beyond the limits dictated by the control surface actuators. The consequences of ignoring these issues can be catastrophic. Supporting this claim NASA Dryden Flight Research Center reports considerable performance degradation and even loss of stability in autonomous soaring flight tests with the subsequent risk of an aircraft crash. The existing control schemes are concluded to suffer from limited performance. Considering the aircraft dynamics and the thermal characteristics we define a vehicle-specific trajectory optimization problem to achieve increased cross-country speed and extended range of flight. In an environment with geographically dispersed set of thermals of possibly limited lifespan, we identify the similarities to the Vehicle Routing Problem (VRP) and provide both exact and approximate guidance algorithms for the navigation of automated UAVs. An additional stochastic approach is used to quantify the performance losses due to incorrect thermal data while dealing with random gust disturbances and onboard sensor measurement inaccuracies. One of the main contributions of this research is a novel adaptive control design with

  1. H∞ control of a remotely operated underwater vehicle

    International Nuclear Information System (INIS)

    Conte, G.; Serrani, A.

    1994-01-01

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

  2. Adaptive powertrain control for plugin hybrid electric vehicles

    Science.gov (United States)

    Kedar-Dongarkar, Gurunath; Weslati, Feisel

    2013-10-15

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

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

    Science.gov (United States)

    Alexander, Harold L.

    1991-01-01

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

  4. Hybrid electric vehicle power management system

    Science.gov (United States)

    Bissontz, Jay E.

    2015-08-25

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

  5. ac propulsion system for an electric vehicle

    Science.gov (United States)

    Geppert, S.

    1980-01-01

    It is pointed out that dc drives will be the logical choice for current production electric vehicles (EV). However, by the mid-80's, there is a good chance that the price and reliability of suitable high-power semiconductors will allow for a competitive ac system. The driving force behind the ac approach is the induction motor, which has specific advantages relative to a dc shunt or series traction motor. These advantages would be an important factor in the case of a vehicle for which low maintenance characteristics are of primary importance. A description of an EV ac propulsion system is provided, taking into account the logic controller, the inverter, the motor, and a two-speed transmission-differential-axle assembly. The main barrier to the employment of the considered propulsion system in EV is not any technical problem, but inverter transistor cost.

  6. Dynamics of vehicle-road coupled system

    CERN Document Server

    Yang, Shaopu; Li, Shaohua

    2015-01-01

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

  7. Intelligent Control Of An Electric Vehicle ICEV

    Directory of Open Access Journals (Sweden)

    Taoufik Chaouachi

    2017-01-01

    Full Text Available The electric vehicle allows fast gentle quiet and environmentally friendly movements in industrial and urban environments. The automotive industry has seen the opportunity to revive its production by replacing existing vehicles due to the reluctance of oil reserves around the world. In order to greatly reduce countries dependence on oil strategic sectors such as transport must increasingly integrate technologies based primarily on clean and renewable energy. Governments must implement large-scale measures to equip themselves with electric vehicles and build large recharge networks. The traditional system for conversions of conventional vehicles into electric vehicles consists of replacing the internal combustion engine and the gearbox with electrical components engine and gearbox or engine and gearbox retaining the rest of the elements Transmission transmission shafts etc..

  8. An integrated control strategy for the composite braking system of an electric vehicle with independently driven axles

    Science.gov (United States)

    Sun, Fengchun; Liu, Wei; He, Hongwen; Guo, Hongqiang

    2016-08-01

    For an electric vehicle with independently driven axles, an integrated braking control strategy was proposed to coordinate the regenerative braking and the hydraulic braking. The integrated strategy includes three modes, namely the hybrid composite mode, the parallel composite mode and the pure hydraulic mode. For the hybrid composite mode and the parallel composite mode, the coefficients of distributing the braking force between the hydraulic braking and the two motors' regenerative braking were optimised offline, and the response surfaces related to the driving state parameters were established. Meanwhile, the six-sigma method was applied to deal with the uncertainty problems for reliability. Additionally, the pure hydraulic mode is activated to ensure the braking safety and stability when the predictive failure of the response surfaces occurs. Experimental results under given braking conditions showed that the braking requirements could be well met with high braking stability and energy regeneration rate, and the reliability of the braking strategy was guaranteed on general braking conditions.

  9. Realistic control considerations for electromagnetically levitated urban transit vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Billing, J R

    1976-04-01

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

  10. Signal processing and control challenges for smart vehicles

    Science.gov (United States)

    Zhang, Hui; Braun, Simon G.

    2017-03-01

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

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

    Directory of Open Access Journals (Sweden)

    Felipe Jiménez

    2016-01-01

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

  12. Sistema de controle de velocidade sincronizada entre dois veículos agrícolas Synchronized speed control system between two agricultural vehicles

    Directory of Open Access Journals (Sweden)

    Rodrigo Fernando Galzerano Baldo

    2012-02-01

    Full Text Available Este trabalho apresenta uma proposta para o controle automático de velocidade entre dois veículos que necessitam trafegar em paralelo durante operações agrícolas. É descrito o desenvolvimento e os testes de campo de um sistema de controle de velocidade para um trator escravo baseado na velocidade de um trator mestre, utilizando um controlador desenvolvido em lógica fuzzy. Para esses testes, os tratores foram instrumentados com GPS, encoder, computador e transmissor de radiofrequência, sendo instalado ainda no trator escravo um motor de passo para o controle da velocidade de deslocamento. Para avaliar o sistema, realizaram-se dois testes: no primeiro, a resposta do trator escravo à variação de velocidade foi avaliada a partir de simulações de variação na velocidade de entrada; no segundo, foram utilizados dois tratores variando a velocidade do trator mestre e observando a resposta do trator escravo. No primeiro teste, o trator escravo acompanhou a simulação da variação da velocidade com um erro quadrático médio (EQM não significativo e erro médio percentual (EMP máximo de 1,3%. No segundo teste, o trator escravo acompanhou a variação de velocidade do trator mestre com o (EMP de deslocamento variando em módulo de 0,2% a 2,9%.This paper presents a proposal for automatic speed control of vehicles that requires working in synchronism with each other during agricultural operations. It describes the development and field tests of a control system for a slave tractor based on the master tractor speed, using a fuzzy controller. For the tests the master tractor was instrumented with GPS, encoders, computer and radio transmitter. The slave tractor was instrumented in the same way, and included also a stepper motor to act on the tractor throttle. To evaluate the system two tests were conducted. In the first, the master tractor speed was simulated using only the slave tractor. In the second test, two tractors were used varying the

  13. Advanced control architecture for autonomous vehicles

    Science.gov (United States)

    Maurer, Markus; Dickmanns, Ernst D.

    1997-06-01

    An advanced control architecture for autonomous vehicles is presented. The hierarchical architecture consists of four levels: a vehicle level, a control level, a rule-based level and a knowledge-based level. A special focus is on forms of internal representation, which have to be chosen adequately for each level. The control scheme is applied to VaMP, a Mercedes passenger car which autonomously performs missions on German freeways. VaMP perceives the environment with its sense of vision and conventional sensors. It controls its actuators for locomotion and attention focusing. Modules for perception, cognition and action are discussed.

  14. Reduced Attitude Control of a Robotic Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Bláha Lukáš

    2017-01-01

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

  15. Introducing Dual Suspension System in Road Vehicles

    Directory of Open Access Journals (Sweden)

    Imtiaz Hussain

    2013-04-01

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

  16. The control of a parallel hybrid-electric propulsion system for a small unmanned aerial vehicle using a CMAC neural network.

    Science.gov (United States)

    Harmon, Frederick G; Frank, Andrew A; Joshi, Sanjay S

    2005-01-01

    A Simulink model, a propulsion energy optimization algorithm, and a CMAC controller were developed for a small parallel hybrid-electric unmanned aerial vehicle (UAV). The hybrid-electric UAV is intended for military, homeland security, and disaster-monitoring missions involving intelligence, surveillance, and reconnaissance (ISR). The Simulink model is a forward-facing simulation program used to test different control strategies. The flexible energy optimization algorithm for the propulsion system allows relative importance to be assigned between the use of gasoline, electricity, and recharging. A cerebellar model arithmetic computer (CMAC) neural network approximates the energy optimization results and is used to control the parallel hybrid-electric propulsion system. The hybrid-electric UAV with the CMAC controller uses 67.3% less energy than a two-stroke gasoline-powered UAV during a 1-h ISR mission and 37.8% less energy during a longer 3-h ISR mission.

  17. Systems and methods for vehicle speed management

    Science.gov (United States)

    Sujan, Vivek Anand; Vajapeyazula, Phani; Follen, Kenneth; Wu, An; Forst, Howard Robert

    2016-03-01

    Controlling a speed of a vehicle based on at least a portion of a route grade and a route distance divided into a plurality of route sections, each including at least one of a section grade and section length. Controlling the speed of the vehicle is further based on determining a cruise control speed mode for the vehicle for each of the plurality of route sections and determining a speed reference command of the vehicle based on at least one of the cruise control speed mode, the section length, the section grade, and a current speed.

  18. Nonlinear Analysis and Intelligent Control of Integrated Vehicle Dynamics

    Directory of Open Access Journals (Sweden)

    C. Huang

    2014-01-01

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

  19. Automatic control of a robotic vehicle

    Science.gov (United States)

    Mcreynolds, S. R.

    1976-01-01

    Over the last several years Jet Propulsion Laboratory has been engaged in a project to develop some of the technology required to build a robotic vehicle for exploring planetary surfaces. An overview of hardware and software being developed for this project is given. Particular emphasis is placed on the description of the current design for the Vehicle System required for locomotion and the path planning algorithm.

  20. Coordination of Heat Pumps, Electric Vehicles and AGC for Efficient LFC in a Smart Hybrid Power System via SCA-Based Optimized FOPID Controllers

    Directory of Open Access Journals (Sweden)

    Rahmat Khezri

    2018-02-01

    Full Text Available Due to the high price of fossil fuels, the increased carbon footprint in conventional generation units and the intermittent functionality of renewable units, alternative sources must contribute to the load frequency control (LFC of the power system. To tackle the challenge, dealing with controllable loads, the ongoing study aims at efficient LFC in smart hybrid power systems. To achieve this goal, heat pumps (HPs and electric vehicles (EVs are selected as the most effective controllable loads to contribute to the LFC issue. In this regard, the EVs can be controlled in a bidirectional manner as known charging and discharging states under a smart structure. In addition, regarding the HPs, the power consumption is controllable. As the main task, this paper proposes a fractional order proportional integral differential (FOPID controller for coordinated control of power consumption in HPs, the discharging state in EVs and automatic generation control (AGC. The parameters of the FOPID controllers are optimized simultaneously by the sine cosine algorithm (SCA, which is a new method for optimization problems. In the sequel, four scenarios, including step and random load changes, aggregated intermittent generated power from wind turbines, a random load change scenario and a sensitivity analysis scenario, are selected to demonstrate the efficiency of the proposed SCA-based FOPID controllers in a hybrid two-area power system.

  1. A new controller for battery-powered electric vehicles

    Science.gov (United States)

    Belsterling, C. A.; Stone, J.

    1980-01-01

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

  2. DESIGN OF A REAL TIME REMOTE VEHICLE LOCATION SYSTEM

    Directory of Open Access Journals (Sweden)

    Ahmet Emir DİRİK

    2004-02-01

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

  3. A System for Fast Navigation of Autonomous Vehicles

    Science.gov (United States)

    1991-09-01

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

  4. Development of an Android OS Based Controller of a Double Motor Propulsion System for Connected Electric Vehicles and Communication Delays Analysis

    Directory of Open Access Journals (Sweden)

    Pedro Daniel Urbina Coronado

    2015-01-01

    Full Text Available Developments of technologies that facilitate vehicle connectivity represent a market demand. In particular, mobile device (MD technology provides advanced user interface, customization, and upgradability characteristics that can facilitate connectivity and possibly aid in the goal of autonomous driving. This work explores the use of a MD in the control system of a conceptual electric vehicle (EV. While the use of MD for real-time control and monitoring has been reported, proper consideration has not been given to delays in data flow and their effects on system performance. The motor of a novel propulsion system for an EV was conditioned to be controlled in a wireless local area network by an ecosystem that includes a MD and an electronic board. An intended accelerator signal is predefined and sent to the motor and rotational speed values produced in the motor are sent back to the MD. Sample periods in which the communication really occurs are registered. Delays in the sample periods and produced errors in the accelerator and rotational speed signals are presented and analyzed. Maximum delays found in communications were of 0.2 s, while the maximum error produced in the accelerator signal was of 3.54%. Delays are also simulated, with a response that is similar to the behavior observed in the experiments.

  5. Multilayer Controller for Outdoor Vehicle

    DEFF Research Database (Denmark)

    Reske-Nielsen, Anders; Mejnertsen, Asbjørn; Andersen, Nils Axel

    2006-01-01

    A full software and hardware solution has been designed, implemented and tested for control of a small agricultural automatic tractor. The objective was to realise a user-friendly, multi-layer controller architecture for an outdoor platform. The collaborative research work was done as a part of a...

  6. Contour Tracking Control for the REMUS Autonomous Underwater Vehicle

    National Research Council Canada - National Science Library

    Van Reet, Alan R

    2005-01-01

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

  7. Coordinated Control of Vehicle Groups

    National Research Council Canada - National Science Library

    Kumar, Vijay

    2004-01-01

    .... There are three main objectives: (1) to develop a theoretical paradigm for formalizing the concepts of a group, a team, and control of groups, with specified tasks such as exploring, mapping, searching, and transporting objects; (2...

  8. Hybrid and Electric Advanced Vehicle Systems Simulation

    Science.gov (United States)

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

    1985-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Németh Balázs

    2016-03-01

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

  10. Design and analysis of control strategies for vehicle platooning

    NARCIS (Netherlands)

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

    2016-01-01

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

  11. 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.

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

    Directory of Open Access Journals (Sweden)

    Yinsong Wang

    2012-01-01

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

  13. Energy Management of the Multi-Mission Space Exploration Vehicle Using a Goal-Oriented Control System

    Science.gov (United States)

    Braman, Julia M. B.; Wagner, David A.

    2010-01-01

    Safe human exploration in space missions requires careful management of limited resources such as breathable air and stored electrical energy. Daily activities for astronauts must be carefully planned with respect to such resources, and usage must be monitored as activities proceed to ensure that they can be completed while maintaining safe resource margins. Such planning and monitoring can be complex because they depend on models of resource usage, the activities being planned, and uncertainties. This paper describes a system - and the technology behind it - for energy management of the NASA-Johnson Space Center's Multi-Mission Space Exploration Vehicles (SEV), that provides, in an onboard advisory mode, situational awareness to astronauts and real-time guidance to mission operators. This new capability was evaluated during this year's Desert RATS (Research and Technology Studies) planetary exploration analog test in Arizona. This software aided ground operators and crew members in modifying the day s activities based on the real-time execution of the plan and on energy data received from the rovers.

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

    DEFF Research Database (Denmark)

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

    2017-01-01

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

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

    Science.gov (United States)

    Suzuki, Toru; Fujimoto, Hiroshi

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

  16. 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

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

    Energy Technology Data Exchange (ETDEWEB)

    Cai, Y.; Chen, S.S.

    1995-11-01

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

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

    OpenAIRE

    Dell'Amico, Alessandro

    2016-01-01

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

  19. Hybrid vehicle energy management: singular optimal control

    NARCIS (Netherlands)

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

    2017-01-01

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

  20. Performance of an Automated-Mixed-Traffic-Vehicle /AMTV/ System. [urban people mover

    Science.gov (United States)

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

    1978-01-01

    This study analyzes the operation and evaluates the expected performance of a proposed automatic guideway transit system which uses low-speed Automated Mixed Traffic Vehicles (AMTV's). Vehicle scheduling and headway control policies are evaluated with a transit system simulation model. The effect of mixed-traffic interference on the average vehicle speed is examined with a vehicle-pedestrian interface model. Control parameters regulating vehicle speed are evaluated for safe stopping and passenger comfort.

  1. Advanced hybrid and electric vehicles system optimization and vehicle integration

    CERN Document Server

    2016-01-01

    This contributed volume contains the results of the research program “Agreement for Hybrid and Electric Vehicles”, funded by the International Energy Agency. The topical focus lies on technology options for the system optimization of hybrid and electric vehicle components and drive train configurations which enhance the energy efficiency of the vehicle. The approach to the topic is genuinely interdisciplinary, covering insights from fields. The target audience primarily comprises researchers and industry experts in the field of automotive engineering, but the book may also be beneficial for graduate students.

  2. Towards an Improved Pilot-Vehicle Interface for Highly Automated Aircraft: Evaluation of the Haptic Flight Control System

    Science.gov (United States)

    Schutte, Paul; Goodrich, Kenneth; Williams, Ralph

    2012-01-01

    The control automation and interaction paradigm (e.g., manual, autopilot, flight management system) used on virtually all large highly automated aircraft has long been an exemplar of breakdowns in human factors and human-centered design. An alternative paradigm is the Haptic Flight Control System (HFCS) that is part of NASA Langley Research Center s Naturalistic Flight Deck Concept. The HFCS uses only stick and throttle for easily and intuitively controlling the actual flight of the aircraft without losing any of the efficiency and operational benefits of the current paradigm. Initial prototypes of the HFCS are being evaluated and this paper describes one such evaluation. In this evaluation we examined claims regarding improved situation awareness, appropriate workload, graceful degradation, and improved pilot acceptance. Twenty-four instrument-rated pilots were instructed to plan and fly four different flights in a fictitious airspace using a moderate fidelity desktop simulation. Three different flight control paradigms were tested: Manual control, Full Automation control, and a simplified version of the HFCS. Dependent variables included both subjective (questionnaire) and objective (SAGAT) measures of situation awareness, workload (NASA-TLX), secondary task performance, time to recognize automation failures, and pilot preference (questionnaire). The results showed a statistically significant advantage for the HFCS in a number of measures. Results that were not statistically significant still favored the HFCS. The results suggest that the HFCS does offer an attractive and viable alternative to the tactical components of today s FMS/autopilot control system. The paper describes further studies that are planned to continue to evaluate the HFCS.

  3. FY2016 Vehicle Systems Annual Progress Report

    Energy Technology Data Exchange (ETDEWEB)

    None, None

    2017-10-31

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

  4. Vehicle Systems Analysis Technical Team Roadmap

    Energy Technology Data Exchange (ETDEWEB)

    None

    2013-06-01

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

  5. Advanced hybrid vehicle propulsion system study

    Science.gov (United States)

    Schwarz, R.

    1982-01-01

    Results are presented of a study of an advanced heat engine/electric automotive hybrid propulsion system. The system uses a rotary stratified charge engine and ac motor/controller in a parallel hybrid configuration. The three tasks of the study were (1) parametric studies involving five different vehicle types, (2) design trade-off studies to determine the influence of various vehicle and propulsion system paramaters on system performance fuel economy and cost, and (3) a conceptual design establishing feasibility at the selected approach. Energy consumption for the selected system was .034 1/km (61.3 mpg) for the heat engine and .221 kWh/km (.356 kWh/mi) for the electric power system over a modified J227 a schedule D driving cycle. Life cycle costs were 7.13 cents/km (11.5 cents/mi) at $2/gal gasoline and 7 cents/kWh electricity for 160,000 km (100,000 mi) life.

  6. Light armoured reconnaissance vehicle system S-LOV-CBRN

    International Nuclear Information System (INIS)

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

    2014-01-01

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

  7. 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.

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

    NARCIS (Netherlands)

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

    2011-01-01

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

  9. Load Frequency Control by use of a Number of Both Heat Pump Water Heaters and Electric Vehicles in Power System with a Large Integration of Renewable Energy Sources

    Science.gov (United States)

    Masuta, Taisuke; Shimizu, Koichiro; Yokoyama, Akihiko

    In Japan, from the viewpoints of global warming countermeasures and energy security, it is expected to establish a smart grid as a power system into which a large amount of generation from renewable energy sources such as wind power generation and photovoltaic generation can be installed. Measures for the power system stability and reliability are necessary because a large integration of these renewable energy sources causes some problems in power systems, e.g. frequency fluctuation and distribution voltage rise, and Battery Energy Storage System (BESS) is one of effective solutions to these problems. Due to a high cost of the BESS, our research group has studied an application of controllable loads such as Heat Pump Water Heater (HPWH) and Electric Vehicle (EV) to the power system control for reduction of the required capacity of BESS. This paper proposes a new coordinated Load Frequency Control (LFC) method for the conventional power plants, the BESS, the HPWHs, and the EVs. The performance of the proposed LFC method is evaluated by the numerical simulations conducted on a power system model with a large integration of wind power generation and photovoltaic generation.

  10. Obstacle detection system for underground mining vehicles

    Energy Technology Data Exchange (ETDEWEB)

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

    1998-01-01

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

  11. Model Predictive Control for Connected Hybrid Electric Vehicles

    Directory of Open Access Journals (Sweden)

    Kaijiang Yu

    2015-01-01

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

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

    Science.gov (United States)

    Wie, Bong; Sinha, Ravi

    1993-01-01

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

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

    Science.gov (United States)

    Plamondon, N; Nahon, M

    2009-09-01

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

  14. A trajectory tracking controller for an underwater hexapod vehicle

    International Nuclear Information System (INIS)

    Plamondon, N; Nahon, M

    2009-01-01

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

  15. Gaze-Based Controlling a Vehicle

    DEFF Research Database (Denmark)

    Mardanbeigi, Diako; Witzner Hansen, Dan

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

  16. Improving driver comfort in commercial vehicles : modeling and control of a low-power active cabin suspension system

    NARCIS (Netherlands)

    Evers, W.J.E.

    2010-01-01

    Comfort enhancement of commercial vehicles has been an engineering topic ever since the first trucks emerged around 1900. Since then, significant improvements have been made by implementing cabin (secondary) and seat suspensions. Moreover, the invention of the air spring and its application to the

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

    Directory of Open Access Journals (Sweden)

    Hongxiao Yu

    2015-05-01

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

  18. Nonlinear reset integrator control design: Application to the active suspension control of vehicles

    OpenAIRE

    Acho Zuppa, Leonardo

    2014-01-01

    We present an unexampled reset integrator control design based on the Clegg integrator system. Using an appropriate mathematical model of our Clegg integrator controller, stability proof of the closed-loop system applied to the vibration control problem of a second-order system is shown without invoking hybrid system theory. Furthermore, we illustrate the pplicability of our controller, from the numerical experiment point of view, to the suspension vibration control of vehicles.

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

    Directory of Open Access Journals (Sweden)

    Hongbo Gao

    2017-12-01

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

  20. Autonomous system for launch vehicle range safety

    Science.gov (United States)

    Ferrell, Bob; Haley, Sam

    2001-02-01

    The Autonomous Flight Safety System (AFSS) is a launch vehicle subsystem whose ultimate goal is an autonomous capability to assure range safety (people and valuable resources), flight personnel safety, flight assets safety (recovery of valuable vehicles and cargo), and global coverage with a dramatic simplification of range infrastructure. The AFSS is capable of determining current vehicle position and predicting the impact point with respect to flight restriction zones. Additionally, it is able to discern whether or not the launch vehicle is an immediate threat to public safety, and initiate the appropriate range safety response. These features provide for a dramatic cost reduction in range operations and improved reliability of mission success. .

  1. Vehicle/Guideway Interaction in Maglev Systems

    Science.gov (United States)

    1992-03-01

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

  2. Advanced propulsion system concept for hybrid vehicles

    Science.gov (United States)

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

    1980-01-01

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

  3. A Shuttle Derived Vehicle launch system

    Science.gov (United States)

    Tewell, J. R.; Buell, D. N.; Ewing, E. S.

    1982-01-01

    This paper describes a Shuttle Derived Vehicle (SDV) launch system presently being studied for the NASA by Martin Marietta Aerospace which capitalizes on existing Shuttle hardware elements to provide increased accommodations for payload weight, payload volume, or both. The SDV configuration utilizes the existing solid rocket boosters, external tank and the Space Shuttle main engines but replaces the manned orbiter with an unmanned, remotely controlled cargo carrier. This cargo carrier substitution more than doubles the performance capability of the orbiter system and is realistically achievable for minimal cost. The advantages of the SDV are presented in terms of performance and economics. Based on these considerations, it is concluded that an unmanned SDV offers a most attractive complement to the present Space Transportation System.

  4. Computer controlled motor vehicle battery circuit

    Energy Technology Data Exchange (ETDEWEB)

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

    1986-04-01

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

  5. Gain Scheduling for the Orion Launch Abort Vehicle Controller

    Science.gov (United States)

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

    2011-01-01

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

  6. Cooperative control of a squad of mobile vehicles

    International Nuclear Information System (INIS)

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

    1998-01-01

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

  7. Online Traffic Signal Control for Reducing Vehicle Carbon Dioxide Emissions

    Science.gov (United States)

    Oda, Toshihiko; Otokita, Tohru; Niikura, Satoshi

    In Japan, carbon dioxide (CO2) emissions caused by vehicles have been increasing year by year and it is well known that CO2 causes a serious global warming problem. For urban traffic control systems, there is a great demand for realization of signal control measures as soon as possible due to the urgency of the recent environmental situation. This paper describes a new traffic signal control for reducing vehicle CO2 emissions on an arterial road. First, we develop a model for estimating the emissions using the traffic delay and the number of stops a driver makes. Second, to find the optimal control parameters, we introduce a random search method with rapid convergence suitable for an online traffic control. We conduct experiments in Kawasaki to verify the effectiveness of our method. The experiments show that our approach decreases not only the emissions but also congestion and travel time significantly, compared to the method implemented in the real system.

  8. Electrically heated particulate filter regeneration methods and systems for hybrid vehicles

    Science.gov (United States)

    Gonze, Eugene V.; Paratore, Jr., Michael J.

    2010-10-12

    A control system for controlling regeneration of a particulate filter for a hybrid vehicle is provided. The system generally includes a regeneration module that controls current to the particulate filter to initiate regeneration. An engine control module controls operation of an engine of the hybrid vehicle based on the control of the current to the particulate filter.

  9. 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 ...

  10. An anticipative escape system for vehicles in water crashes

    Science.gov (United States)

    Shen, Chuanliang; Wang, Jiawei; Yin, Qi; Zhu, Yantao; Yang, Jiawei; Liao, Mengdi; Yang, Liming

    2017-07-01

    In this article, it designs an escape system for vehicles in water crashes. The structure mainly contains sensors, control organs and actuating mechanism for both doors and windows. Sensors judge whether the vehicle falls into water or is in the falling process. The actuating mechanism accepts the signal delivered by the control organs, then open the electronic central lock on doors and meanwhile lower the window. The water escape system is able to anticipate drowning situations for vehicles and controls both doors and windows in such an emergency. Under the premise of doors staying in an undamaged state, it is for sure that people in the vehicle can open the door while drowning in the water and safely escape.

  11. Posture estimation system for underground mine vehicles

    CSIR Research Space (South Africa)

    Hlophe, K

    2010-09-01

    Full Text Available Page 1 of 8 25th International Conference of CAD/CAM, Robotics & Factories of the Future Conference, 13-16 July 2010, Pretoria, South Africa A POSTURE ESTIMATION SYSTEM FOR UNDERGROUND MINE VEHICLES Khonzumusa Hlophe1, Gideon Ferreira2... and the transmitter. The main difference between the three systems is their implementation. This paper describes an implementation of a posture estimation system for underground mine vehicles. The paper is organized as follows. In the next section, a brief...

  12. System analysis of vehicle active safety problem

    Science.gov (United States)

    Buznikov, S. E.

    2018-02-01

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

  13. 76 FR 49532 - Federal Motor Vehicle Safety Standards; Electronic Stability Control; Technical Report on the...

    Science.gov (United States)

    2011-08-10

    ...-0112] Federal Motor Vehicle Safety Standards; Electronic Stability Control; Technical Report on the Effectiveness of Electronic Stability Control Systems for Cars and LTVs AGENCY: National Highway Traffic Safety..., Electronic Stability Control Systems. The report's title is: Crash Prevention Effectiveness in Light-Vehicle...

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

    DEFF Research Database (Denmark)

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

    2002-01-01

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

  15. Human Engineering of Space Vehicle Displays and Controls

    Science.gov (United States)

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

    2010-01-01

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

  16. Considering Variable Road Geometry in Adaptive Vehicle Speed Control

    Directory of Open Access Journals (Sweden)

    Xinping Yan

    2013-01-01

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

  17. Autonomous aerial vehicles : guidance, control, signal and image processing platform

    International Nuclear Information System (INIS)

    Al-Jarrah, M.; Adiansyah, S.; Marji, Z. M.; Chowdhury, M. S.

    2011-01-01

    The use of unmanned systems is gaining momentum in civil applications after successful use by the armed forces around the globe. Autonomous aerial vehicles are important for providing assistance in monitoring highways, power grid lines, borders, and surveillance of critical infrastructures. It is envisioned that cargo shipping will be completely handled by UAVs by the 2025. Civil use of unmanned autonomous systems brings serious challenges. The need for cost effectiveness, reliability, operation simplicity, safety, and cooperation with human and with other agents are among these challenges. Aerial vehicles operating in the civilian aerospace is the ultimate goal which requires these systems to achieve the reliability of manned aircraft while maintaining their cost effectiveness. In this presentation the development of an autonomous fixed and rotary wing aerial vehicle will be discussed. The architecture of the system from the mission requirements to low level auto pilot control laws will be discussed. Trajectory tracking and path following guidance and control algorithms commonly used and their implementation using of the shelf low cost components will be presented. Autonomous takeo? landing is a key feature that was implemented onboard the vehicle to complete its degree of autonomy. This is implemented based on accurate air-data system designed and fused with sonar measurements, INS/GPS measurements, and vector field method guidance laws. The outcomes of the proposed research is that the AUS-UAV platform named MAZARI is capable of autonomous takeoff and landing based on a pre scheduled flight path using way point navigation and sensor fusion of the inertial navigation system (INS) and global positioning system (GPS). Several technologies need to be mastered when developing a UAV. The navigation task and the need to fuse sensory information to estimate the location of the vehicle is critical to successful autonomous vehicle. Currently extended Kalman filtering is

  18. On distributed model predictive control for vehicle platooning with a recursive feasibility guarantee

    NARCIS (Netherlands)

    Shi, Shengling; Lazar, Mircea

    2017-01-01

    This paper proposes a distributed model predictive control algorithm for vehicle platooning and more generally networked systems in a chain structure. The distributed models of the vehicle platoon are coupled through the input of the preceding vehicles. Using the principles of robust model

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

    Science.gov (United States)

    Selma, Boumediene; Chouraqui, Samira

    2013-12-01

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

  20. Reentry Vehicle Flight Controls Design Guidelines: Dynamic Inversion

    Science.gov (United States)

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

    2002-01-01

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

  1. 75 FR 15620 - Federal Motor Vehicle Safety Standards; Air Brake Systems

    Science.gov (United States)

    2010-03-30

    ... fully develop improved brake systems and also to ensure vehicle control and stability while braking... [Docket No. NHTSA 2009-0175] RIN 2127-AK62 Federal Motor Vehicle Safety Standards; Air Brake Systems... Federal motor vehicle safety standard for air brake systems by requiring substantial improvements in...

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1998-10-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2012-11-01

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

  4. The influence of vehicle aerodynamic and control response characteristics on driver-vehicle performance

    Science.gov (United States)

    Alexandridis, A. A.; Repa, B. S.; Wierwille, W. W.

    1978-01-01

    The effects of changes in understeer, control sensitivity, and location of the lateral aerodynamic center of pressure (c.p.) of a typical passenger car on the driver's opinion and on the performance of the driver-vehicle system were studied in a moving-base driving simulator. Twelve subjects with no prior experience on the simulator and no special driving skills performed regulation tasks in the presence of both random and step wind gusts.

  5. Remotely Accessed Vehicle Traffic Management System

    Science.gov (United States)

    Al-Alawi, Raida

    2010-06-01

    The ever increasing number of vehicles in most metropolitan cities around the world and the limitation in altering the transportation infrastructure, led to serious traffic congestion and an increase in the travelling time. In this work we exploit the emergence of novel technologies such as the internet, to design an intelligent Traffic Management System (TMS) that can remotely monitor and control a network of traffic light controllers located at different sites. The system is based on utilizing Embedded Web Servers (EWS) technology to design a web-based TMS. The EWS located at each intersection uses IP technology for communicating remotely with a Central Traffic Management Unit (CTMU) located at the traffic department authority. Friendly GUI software installed at the CTMU will be able to monitor the sequence of operation of the traffic lights and the presence of traffic at each intersection as well as remotely controlling the operation of the signals. The system has been validated by constructing a prototype that resembles the real application.

  6. Design and Control of a Multiple Input DC/DC Converter for Battery/Ultra-capacitor Based Electric Vehicle Power System

    DEFF Research Database (Denmark)

    Schaltz, Erik; Li, Zhihao; Onar, Omer

    2009-01-01

    Battery/Ultra-capacitor based electrical vehicles (EV) combine two energy sources with different voltage levels and current characteristics. This paper focuses on design and control of a multiple input DC/DC converter, to regulate output voltage from different inputs. The proposed multi-input con......Battery/Ultra-capacitor based electrical vehicles (EV) combine two energy sources with different voltage levels and current characteristics. This paper focuses on design and control of a multiple input DC/DC converter, to regulate output voltage from different inputs. The proposed multi...

  7. Optimal charging control of electric vehicles in smart grids

    CERN Document Server

    Tang, Wanrong

    2017-01-01

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

  8. MAINTAINING VEHICLE SPEED USING A MECHANICAL CRUISE CONTROL

    Directory of Open Access Journals (Sweden)

    Peter GIROVSKÝ

    2017-06-01

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

  9. Sensor system for fuel transport vehicle

    Science.gov (United States)

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

    2016-03-22

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

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

    Science.gov (United States)

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

    2017-05-30

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

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

    Directory of Open Access Journals (Sweden)

    Gaining Han

    2017-05-01

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

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

    Science.gov (United States)

    Shen, Huan; Tan, Yun-Sheng

    2017-07-01

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

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

    Science.gov (United States)

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

    2014-01-01

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

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

    NARCIS (Netherlands)

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

    2012-01-01

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

  15. Drone Control System

    Science.gov (United States)

    1983-01-01

    Drones, subscale vehicles like the Firebees, and full scale retired military aircraft are used to test air defense missile systems. The DFCS (Drone Formation Control System) computer, developed by IBM (International Business Machines) Federal Systems Division, can track ten drones at once. A program called ORACLS is used to generate software to track and control Drones. It was originally developed by Langley and supplied by COSMIC (Computer Software Management and Information Center). The program saved the company both time and money.

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

    Science.gov (United States)

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

    1975-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Kaijiang YU

    2015-10-01

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

  18. Influences of braking system faults on the vehicle dynamics

    Energy Technology Data Exchange (ETDEWEB)

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

    2001-07-01

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

  19. The problem of the driverless vehicle specified path stability control

    Science.gov (United States)

    Buznikov, S. E.; Endachev, D. V.; Elkin, D. S.; Strukov, V. O.

    2018-02-01

    Currently the effort of many leading foreign companies is focused on creation of driverless transport for transportation of cargo and passengers. Among many practical problems arising while creating driverless vehicles, the problem of the specified path stability control occupies a central place. The purpose of this paper is formalization of the problem in question in terms of the quadratic functional of the control quality, the comparative analysis of the possible solutions and justification of the choice of the optimum technical solution. As square value of the integral of the deviation from the specified path is proposed as the quadratic functional of the control quality. For generation of the set of software and hardware solution variants the Zwicky “morphological box” method is used within the hardware and software environments. The heading control algorithms use the wheel steering angle data and the deviation from the lane centerline (specified path) calculated based on the navigation data and the data from the video system. Where the video system does not detect the road marking, the control is carried out based on the wheel navigation system data and where recognizable road marking exits - based on to the video system data. The analysis of the test results allows making the conclusion that the application of the combined navigation system algorithms that provide quasi-optimum solution of the problem while meeting the strict functional limits for the technical and economic indicators of the driverless vehicle control system under development is effective.

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

    NARCIS (Netherlands)

    Delprat, S.; Hofman, T.

    2015-01-01

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

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

    DEFF Research Database (Denmark)

    Pillai, Jayakrishnan Radhakrishna; Bak-Jensen, Birgitte

    2011-01-01

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

  2. Control of maglev vehicles with aerodynamic and guideway disturbances

    Science.gov (United States)

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

    1994-01-01

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

  3. Issues Relative to the Control of Large High Speed Unmanned Vehicles for Use in Crash Rescue Operations. A Technical Paper Presented to the American Nuclear Society, Ninth International Topical Meeting on Robotics and Remote Systems Held in Seattle, WA on March 4-8, 2001

    National Research Council Canada - National Science Library

    English, Ralph

    2000-01-01

    .... The control systems of small, slow moving machines common in research and development platforms have historically ignored vehicle dynamics beyond basic parameters such as acceleration, steering and braking...

  4. Kinetic energy recovery systems in motor vehicles

    Science.gov (United States)

    Śliwiński, C.

    2016-09-01

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

  5. The design method and research status of vehicle detection system based on geomagnetic detection principle

    Science.gov (United States)

    Lin, Y. H.; Bai, R.; Qian, Z. H.

    2018-03-01

    Vehicle detection systems are applied to obtain real-time information of vehicles, realize traffic control and reduce traffic pressure. This paper reviews geomagnetic sensors as well as the research status of the vehicle detection system. Presented in the paper are also our work on the vehicle detection system, including detection algorithms and experimental results. It is found that the GMR based vehicle detection system has a detection accuracy up to 98% with a high potential for application in the road traffic control area.

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

    Directory of Open Access Journals (Sweden)

    Peng Jing

    2017-08-01

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

  7. Fiber optic gyroscopes for vehicle navigation systems

    Science.gov (United States)

    Kumagai, Tatsuya; Soekawa, Hirokazu; Yuhara, Toshiya; Kajioka, Hiroshi; Oho, Shigeru; Sonobe, Hisao

    1994-03-01

    Fiber optic gyroscopes (FOGs) have been developed for vehicle navigation systems and are used in Toyota Motor Corporation models Mark II, Chaser and Cresta in Japan. Use of FOGs in these systems requires high reliability under a wide range of conditions, especially in a temperature range between -40 and 85 degree(s)C. In addition, a high cost-performance ratio is needed. We have developed optical and electrical systems that are inexpensive and can perform well. They are ready to be mass-produced. FOGs have already been installed in luxury automobiles, and will soon be included in more basic vehicles. We have developed more inexpensive FOGs for this purpose.

  8. Modeling and Simulation of an Unmanned Ground Vehicle Power System

    Science.gov (United States)

    2014-03-28

    Wilhelm, A. N., Surgenor, B. W., and Pharoah, J. G., “Design and evaluation of a micro-fuel-cell-based power system for a mobile robot,” Mechatronics ... Embedded Control Systems ], Control Engineering, 91–116, Birkhuser Boston (2005). [12] Alur, R., Courcoubetis, C., Halbwachs, N., Henzinger, T., Ho, P.-H...Modeling and Simulation of an Unmanned Ground Vehicle Power System John Brodericka∗, Jack Hartnerb, Dawn Tilburya, and Ella Atkinsa aThe University

  9. Longitudinal Control for Mengshi Autonomous Vehicle via Cloud Model

    Science.gov (United States)

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

    2018-03-01

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

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

    Science.gov (United States)

    Hsu, Ling-Yuan; Chen, Tsung-Lin

    2012-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Miguel Velazquez

    2016-06-01

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

  12. Controlling Unmanned Vehicles : the Human Factors Solution

    NARCIS (Netherlands)

    Erp, J.B.F. van

    2000-01-01

    Recent developments and experiences have proven the usefulness and potential of Unmanned Vehicles (UVs). Emerging technologies enable new missions, broadening the applicability of UVs from simple remote spies towards unmanned combat vehicles carrying lethal weapons. However, despite the emerging

  13. Predictive cruise control in hybrid electric vehicles

    NARCIS (Netherlands)

    Keulen, T. van; Naus, M.J.G.; Jager, B. de; Molengraft, G.J.L. van de; Steinbuch, M.; Aneke, N.P.I.

    2009-01-01

    Deceleration rates have considerable influence on the fuel economy of hybrid electric vehicles. Given the vehicle characteristics and actual/measured operating conditions, as well as upcoming route information, optimal velocity trajectories can be constructed that maximize energy recovery. To

  14. Development of wireless vehicle remote control for fuel lid operation

    Science.gov (United States)

    Sulaiman, N.; Jadin, M. S.; Najib, M. S.; Mustafa, M.; Azmi, S. N. F.

    2018-04-01

    Nowadays, the evolution of the vehicle technology had made the vehicle especially car to be equipped with a remote control to control the operation of the locking and unlocking system of the car’s door and rear’s bonnet. However, for the fuel or petrol lid, it merely can be opened from inside the car’s cabin by handling the fuel level inside the car’s cabin to open the fuel lid. The petrol lid can be closed by pushing the lid by hand. Due to the high usage of using fuel lever to open the fuel lid when refilling the fuel, the car driver might encounter the malfunction of fuel lid (fail to open) when pushing or pulling the fuel lever. Thus, the main aim of the research is to enhance the operation of an existing car remote control where the car fuel lid can be controlled using two techniques; remote control-based and smartphone-based. The remote control is constructed using Arduino microcontroller, wireless sensors and XCTU software to set the transmitting and receiving parameters. Meanwhile, the smartphone can control the operation of the fuel lid by communicating with Arduino microcontroller which is attached to the fuel lid using Bluetooth sensor to open the petrol lid. In order to avoid the conflict of instruction between wireless systems with the existing mechanical-based system, the servo motor will be employed to release the fuel lid merely after receiving the instruction from Arduino microcontroller and smartphone. As a conclusion, the prototype of the multipurpose vehicle remote control is successfully invented, constructed and tested. The car fuel lid can be opened either using remote control or smartphone in a sequential manner. Therefore, the outcome of the project can be used to serve as an alternative solution to solve the car fuel lid problem even though the problem rarely occurred.

  15. Flight control actuation system

    Science.gov (United States)

    Wingett, Paul T. (Inventor); Gaines, Louie T. (Inventor); Evans, Paul S. (Inventor); Kern, James I. (Inventor)

    2006-01-01

    A flight control actuation system comprises a controller, electromechanical actuator and a pneumatic actuator. During normal operation, only the electromechanical actuator is needed to operate a flight control surface. When the electromechanical actuator load level exceeds 40 amps positive, the controller activates the pneumatic actuator to offset electromechanical actuator loads to assist the manipulation of flight control surfaces. The assistance from the pneumatic load assist actuator enables the use of an electromechanical actuator that is smaller in size and mass, requires less power, needs less cooling processes, achieves high output forces and adapts to electrical current variations. The flight control actuation system is adapted for aircraft, spacecraft, missiles, and other flight vehicles, especially flight vehicles that are large in size and travel at high velocities.

  16. Effect of In-Vehicle Audio Warning System on Driver’s Speed Control Performance in Transition Zones from Rural Areas to Urban Areas

    Directory of Open Access Journals (Sweden)

    Xuedong Yan

    2016-06-01

    Full Text Available Speeding is a major contributing factor to traffic crashes and frequently happens in areas where there is a mutation in speed limits, such as the transition zones that connect urban areas from rural areas. The purpose of this study is to investigate the effects of an in-vehicle audio warning system and lit speed limit sign on preventing drivers’ speeding behavior in transition zones. A high-fidelity driving simulator was used to establish a roadway network with the transition zone. A total of 41 participants were recruited for this experiment, and the driving speed performance data were collected from the simulator. The experimental results display that the implementation of the audio warning system could significantly reduce drivers’ operating speed before they entered the urban area, while the lit speed limit sign had a minimal effect on improving the drivers’ speed control performance. Without consideration of different types of speed limit signs, it is found that male drivers generally had a higher operating speed both upstream and in the transition zones and have a larger maximum deceleration for speed reduction than female drivers. Moreover, the drivers who had medium-level driving experience had the higher operating speed and were more likely to have speeding behaviors in the transition zones than those who had low-level and high-level driving experience in the transition zones.

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

    NARCIS (Netherlands)

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

    2016-01-01

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

  18. A Microcontroller Based Car-Safety System Implementing Drowsiness Detection And Vehicle-Vehicle Distance Detection In Parallel.

    Directory of Open Access Journals (Sweden)

    Pragyaditya Das.

    2015-08-01

    Full Text Available Abstract Accidents due to drowsiness can be controlled and prevented with the help of eye blink sensor using IR rays. It consists of IR transmitter and an IR receiver. The transmitter transmits IR rays into the eye. If the eye is shut then the output is high. If the eye is open then the output is low. This output is interfaced with an alarm inside and outside the vehicle. This module can be connected to the braking system of the vehicle and can be used to reduce the speed of the vehicle. The alarm inside the vehicle will go on for a period of time until the driver is back to his senses. If the driver is unable to take control of the vehicle after that stipulated amount of time then the alarm outside the vehicle will go on to warn and tell others to help the driver.

  19. Evolving intelligent vehicle control using multi-objective NEAT

    NARCIS (Netherlands)

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

    2013-01-01

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

  20. Modular Energy Storage System for Alternative Energy Vehicles

    Energy Technology Data Exchange (ETDEWEB)

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

    2012-05-15

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

  1. Advanced propulsion system for hybrid vehicles

    Science.gov (United States)

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

    1980-01-01

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

  2. Automatic vehicle counting system for traffic monitoring

    Science.gov (United States)

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

    2016-09-01

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

  3. Hydraulic regenerative system for a light vehicle

    OpenAIRE

    Orpella Aceret, Jordi; Guinart Trayter, Xavier

    2009-01-01

    The thesis is based in a constructed light vehicle that must be improved by adding a hydraulic energy recovery system. This vehicle named as TrecoLiTH, participated in the Formula Electric and Hybrid competition (Formula EHI) 2009 in Italy -Rome- and won several awards. This system consists in two hydraulic motors hub mounted which are used to store fluid at high pressure in an accumulator when braking. Through a valve the pressure will flow from the high pressure accumulator to the low press...

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

    Science.gov (United States)

    2015-12-01

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

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

    OpenAIRE

    Yin, Guodong; Jin, XianJian

    2013-01-01

    A new cooperative braking control strategy (CBCS) is proposed for a parallel hybrid electric vehicle (HEV) with both a regenerative braking system and an antilock braking system (ABS) to achieve improved braking performance and energy regeneration. The braking system of the vehicle is based on a new method of HEV braking torque distribution that makes the antilock braking system work together with the regenerative braking system harmoniously. In the cooperative braking control strategy, a sli...

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

    Science.gov (United States)

    2011-03-01

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

  7. Systems Engineering of Electric and Hybrid Vehicles

    Science.gov (United States)

    Kurtz, D. W.; Levin, R. R.

    1986-01-01

    Technical paper notes systems engineering principles applied to development of electric and hybrid vehicles such that system performance requirements support overall program goal of reduced petroleum consumption. Paper discusses iterative design approach dictated by systems analyses. In addition to obvious peformance parameters of range, acceleration rate, and energy consumption, systems engineering also considers such major factors as cost, safety, reliability, comfort, necessary supporting infrastructure, and availability of materials.

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

    International Nuclear Information System (INIS)

    Jiang Rui; Wu Qingsong

    2006-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Fitri Yakub

    2016-01-01

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

  10. Automated space vehicle control for rendezvous proximity operations

    Science.gov (United States)

    Lea, Robert N.

    1988-01-01

    Rendezvous during the unmanned space exploration missions, such as a Mars Rover/Sample Return will require a completely automatic system from liftoff to docking. A conceptual design of an automated rendezvous, proximity operations, and docking system is being implemented and validated at the Johnson Space Center (JSC). The emphasis is on the progress of the development and testing of a prototype system for control of the rendezvous vehicle during proximity operations that is currently being developed at JSC. Fuzzy sets are used to model the human capability of common sense reasoning in decision making tasks and such models are integrated with the expert systems and engineering control system technology to create a system that performs comparably to a manned system.

  11. Wireless alerting system using vibration for vehicles dashboard

    Science.gov (United States)

    Raj, Sweta; Rai, Shweta; Magaramagara, Wilbert; Sivacoumar, R.

    2017-11-01

    This paper aims at improving the engine life of any vehicle through a continuous measurement and monitoring of vital engine operational parameters and providing an effective alerting to drivers for any abnormality. Vehicles currently are using audio and visible alerting signals through alarms and light as a warning to the driver but these are not effective in noisy environments and during daylight. Through the use of the sense of feeling a driver can be alerted effectively. The need to no other vehicle parameter needs to be aided through the mobile display (phone).Thus a system is designed and implements to measure engine temperature, RPM, Oil level and Coolant level using appropriate sensors and a wireless communication (Bluetooth) is established to actuate a portable vibration control device and to read the different vehicle sensor readings through an android application for display and diagnosis.

  12. 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.

  13. Adaptive Control Allocation for Fault Tolerant Overactuated Autonomous Vehicles

    Science.gov (United States)

    2007-11-01

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

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

    Science.gov (United States)

    2013-09-01

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

  15. Multi-actuators vehicle collision avoidance system - Experimental validation

    Science.gov (United States)

    Hamid, Umar Zakir Abdul; Zakuan, Fakhrul Razi Ahmad; Akmal Zulkepli, Khairul; Zulfaqar Azmi, Muhammad; Zamzuri, Hairi; Rahman, Mohd Azizi Abdul; Aizzat Zakaria, Muhammad

    2018-04-01

    The Insurance Institute for Highway Safety (IIHS) of the United States of America in their reports has mentioned that a significant amount of the road mishaps would be preventable if more automated active safety applications are adopted into the vehicle. This includes the incorporation of collision avoidance system. The autonomous intervention by the active steering and braking systems in the hazardous scenario can aid the driver in mitigating the collisions. In this work, a real-time platform of a multi-actuators vehicle collision avoidance system is developed. It is a continuous research scheme to develop a fully autonomous vehicle in Malaysia. The vehicle is a modular platform which can be utilized for different research purposes and is denominated as Intelligent Drive Project (iDrive). The vehicle collision avoidance proposed design is validated in a controlled environment, where the coupled longitudinal and lateral motion control system is expected to provide desired braking and steering actuation in the occurrence of a frontal static obstacle. Results indicate the ability of the platform to yield multi-actuators collision avoidance navigation in the hazardous scenario, thus avoiding the obstacle. The findings of this work are beneficial for the development of a more complex and nonlinear real-time collision avoidance work in the future.

  16. Route-Based Signal Preemption Control of Emergency Vehicle

    Directory of Open Access Journals (Sweden)

    Haibo Mu

    2018-01-01

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

  17. 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.

  18. Parking Space Detection and Trajectory Tracking Control for Vehicle Auto-Parking

    OpenAIRE

    Shiuh-Jer Huang; Yu-Sheng Hsu

    2017-01-01

    On-board available parking space detecting system, parking trajectory planning and tracking control mechanism are the key components of vehicle backward auto-parking system. Firstly, pair of ultrasonic sensors is installed on each side of vehicle body surface to detect the relative distance between ego-car and surrounding obstacle. The dimension of a found empty space can be calculated based on vehicle speed and the time history of ultrasonic sensor detecting information. This result can be u...

  19. A COOPERATIVE ASSISTANCE SYSTEM BETWEEN VEHICLES FOR ELDERLY DRIVERS

    Directory of Open Access Journals (Sweden)

    Naohisa HASHIMOTO

    2009-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Hui Gao

    2015-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Taochang Li

    2014-01-01

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

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

    Science.gov (United States)

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

    2009-01-01

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

  3. Optimal Control of Engine Warmup in Hybrid Vehicles

    Directory of Open Access Journals (Sweden)

    van Reeven Vital

    2016-01-01

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

  4. 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).

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

    Indian Academy of Sciences (India)

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

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

    NARCIS (Netherlands)

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

    2016-01-01

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

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

    Science.gov (United States)

    Lefevre, Brian D.

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

  8. An operating system for future aerospace vehicle computer systems

    Science.gov (United States)

    Foudriat, E. C.; Berman, W. J.; Will, R. W.; Bynum, W. L.

    1984-01-01

    The requirements for future aerospace vehicle computer operating systems are examined in this paper. The computer architecture is assumed to be distributed with a local area network connecting the nodes. Each node is assumed to provide a specific functionality. The network provides for communication so that the overall tasks of the vehicle are accomplished. The O/S structure is based upon the concept of objects. The mechanisms for integrating node unique objects with node common objects in order to implement both the autonomy and the cooperation between nodes is developed. The requirements for time critical performance and reliability and recovery are discussed. Time critical performance impacts all parts of the distributed operating system; e.g., its structure, the functional design of its objects, the language structure, etc. Throughout the paper the tradeoffs - concurrency, language structure, object recovery, binding, file structure, communication protocol, programmer freedom, etc. - are considered to arrive at a feasible, maximum performance design. Reliability of the network system is considered. A parallel multipath bus structure is proposed for the control of delivery time for time critical messages. The architecture also supports immediate recovery for the time critical message system after a communication failure.

  9. Piecewise affine control for fast unmanned ground vehicles

    OpenAIRE

    Benine Neto , André; Grand , Christophe

    2012-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Behrooz Mashadi

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

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

    Science.gov (United States)

    2011-01-01

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

  12. Integrated vehicle-based safety systems light-vehicle field operational test, methodology and results report.

    Science.gov (United States)

    2010-12-01

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

  13. Integrated vehicle-based safety systems (IVBSS) : light vehicle platform field operational test data analysis plan.

    Science.gov (United States)

    2009-12-22

    This document presents the University of Michigan Transportation Research Institutes plan to : perform analysis of data collected from the light vehicle platform field operational test of the : Integrated Vehicle-Based Safety Systems (IVBSS) progr...

  14. Lighting system with illuminance control

    DEFF Research Database (Denmark)

    2013-01-01

    The present invention relates to an illumination control system comprising a plurality of outdoor luminaries and a motorized service vehicle. Each luminaire comprises a controllable light source producing a light illuminance. The motorized service vehicle comprises a light sensor configured...... to detect the light illuminance generated by the controllable light source at the motorized service vehicle. The motorized service vehicle computes light illuminance data based on the detected light illuminance and transmits these to the outdoor luminaire through a wireless communication link or stores...... the light illuminance data on a data recording device of the motorized service vehicle. The outdoor luminaire receives may use the light illuminance data to set or adjust a light illuminance of the controllable light source....

  15. Controlling active cabin suspensions in commercial vehicles

    NARCIS (Netherlands)

    Evers, W.J.E.; Besselink, I.J.M.; Teerhuis, A.P.; Knaap, van der A.C.M.; Nijmeijer, H.

    2009-01-01

    The field of automotive suspensions is changing. Semi-active and active suspensions are starting to become viable options for vehicle designers. Suspension design for commercial vehicles is especially interesting given its potential. An active cabin suspension for a heavy-duty truck is considered,

  16. Environmental charging of spacecraft-tests of thermal control materials for use on the global positioning system flight space vehicle. Part 2: Specimen 6 to 9

    Science.gov (United States)

    Stevens, N. J.; Berkopec, F. D.; Blech, R. A.

    1976-01-01

    The NASA/USAF program on the Environmental Charging of Spacecraft Surfaces consists, in part, of experimental efforts directed toward evaluating the response of materials to the environmental charged particle flux. Samples of thermal blankets of the type to be used on the Global Positioning System Flight Space Vehicles were tested to determine their response to electron flux. The primary result observed was that no discharges were obtained with the quartz-fiber-fabric-covered multilayer insulation specimen. The taped aluminized polyester grounding system used on all specimens did not appear to grossly deteriorate with time; however, the specimens require specific external pressure to maintain constant grounding system resistance.

  17. 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.

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

    NARCIS (Netherlands)

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

    2008-01-01

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

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

    Directory of Open Access Journals (Sweden)

    SANDHU, F.

    2016-05-01

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

  20. Control concepts for vehicle drive line to reduce fuel consumption

    Energy Technology Data Exchange (ETDEWEB)

    Ossyra, J.C.

    2005-07-01

    In this work advanced drive line control concepts for off-road vehicles have been developed and investigated to reduce the power losses and finally the fuel consumption of the entire drive system by use of on-line optimization procedure. Two separate closed loop speed controls have been developed for the use on a microcontroller onboard the vehicle: one to control the hydrostatic transmission and the other to control the engine speed. Considering the loss characteristics of the displacement machines in the hydrostatic transmission and the steady state characteristics of the combustion engine by use of pure mathematical approximations of measured curves, a direct optimization strategy is used, which works on-line on a microcontroller. A laboratory hardware-in-the loop test rig has been used to investigate the proposed control concepts. For different typical and desired work cycles of an off-road machine on level ground and uphill a slope the effectiveness of the proposed control concepts have been proven. (orig.)

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2015-04-30

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

  2. Robotic reactions: Delay-induced patterns in autonomous vehicle systems

    Science.gov (United States)

    Orosz, Gábor; Moehlis, Jeff; Bullo, Francesco

    2010-02-01

    Fundamental design principles are presented for vehicle systems governed by autonomous cruise control devices. By analyzing the corresponding delay differential equations, it is shown that for any car-following model short-wavelength oscillations can appear due to robotic reaction times, and that there are tradeoffs between the time delay and the control gains. The analytical findings are demonstrated on an optimal velocity model using numerical continuation and numerical simulation.

  3. Robotic reactions: delay-induced patterns in autonomous vehicle systems.

    Science.gov (United States)

    Orosz, Gábor; Moehlis, Jeff; Bullo, Francesco

    2010-02-01

    Fundamental design principles are presented for vehicle systems governed by autonomous cruise control devices. By analyzing the corresponding delay differential equations, it is shown that for any car-following model short-wavelength oscillations can appear due to robotic reaction times, and that there are tradeoffs between the time delay and the control gains. The analytical findings are demonstrated on an optimal velocity model using numerical continuation and numerical simulation.

  4. Coordination control of distributed systems

    CERN Document Server

    Villa, Tiziano

    2015-01-01

    This book describes how control of distributed systems can be advanced by an integration of control, communication, and computation. The global control objectives are met by judicious combinations of local and nonlocal observations taking advantage of various forms of communication exchanges between distributed controllers. Control architectures are considered according to  increasing degrees of cooperation of local controllers:  fully distributed or decentralized controlcontrol with communication between controllers,  coordination control, and multilevel control.  The book covers also topics bridging computer science, communication, and control, like communication for control of networks, average consensus for distributed systems, and modeling and verification of discrete and of hybrid systems. Examples and case studies are introduced in the first part of the text and developed throughout the book. They include: control of underwater vehicles, automated-guided vehicles on a container terminal, contro...

  5. Monitoring System for the Inspection of Vehicle Loads for Radioactivity

    International Nuclear Information System (INIS)

    Krishnamarchri, G.; Chaudhury, P.; Jain, A.; Kale, M. S.; Pradeepkumar, K. S.; Sharma, D. N.; Venkat Raj, V.

    2004-01-01

    From the nuclear facilities, inactive scrap may have to be sent periodically for disposal. The scrap is to be monitored to ensure that it is free from inadvertent mix up of contaminated material, which has got the potential of unwanted exposure to people as well as costly and time consuming clean up operations. Earlier the scrap carrying vehicles were monitored manually using portable radiation survey monitors by health physicists. A PC based monitoring system for the inspection of vehicle loads for radioactivity is developed and is in use which requires minimum manual interaction. The advantage of the system is that it can automatically screen all outgoing vehicles from the establishment. The PC based system consists of two detector boxes, each having three Plastic Scintillation detectors of 50 mm dia x 500 mm long. The processing unit is built around a PC addon card. Using the calibration factor (i.e., nGy/h per cps), the dose rate is computed and 'allow' / 'disallow' visual signal is generated in the PC located in a control room. The graphical user interface provides ON / OFF button for controlling the counting process and counting time interval can be set by the user as desired. All the six counters are synchronized for the process of counting. The acquired counts are displayed on the PC screen in the form of a count rate vs. time graph. At the completion of scanning of a vehicle, the counting is continued to acquire background radiation level till the next vehicle arrives. The processing unit estimates the radiation dose rate from these recorded counts by using already established calibration factor and displays the data on the monitor screen of the computer. If the determined dose rate exceeds the pre determined limit, an audio alarm is initiated and the alarm information is displayed on the monitor of the computer. The system has provision to enter information like vehicle registration number, type of the vehicle, origin of the load, destination etc. These

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

    Science.gov (United States)

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

    1993-01-01

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

  7. Spacecraft momentum control systems

    CERN Document Server

    Leve, Frederick A; Peck, Mason A

    2015-01-01

    The goal of this book is to serve both as a practical technical reference and a resource for gaining a fuller understanding of the state of the art of spacecraft momentum control systems, specifically looking at control moment gyroscopes (CMGs). As a result, the subject matter includes theory, technology, and systems engineering. The authors combine material on system-level architecture of spacecraft that feature momentum-control systems with material about the momentum-control hardware and software. This also encompasses material on the theoretical and algorithmic approaches to the control of space vehicles with CMGs. In essence, CMGs are the attitude-control actuators that make contemporary highly agile spacecraft possible. The rise of commercial Earth imaging, the advances in privately built spacecraft (including small satellites), and the growing popularity of the subject matter in academic circles over the past decade argues that now is the time for an in-depth treatment of the topic. CMGs are augmented ...

  8. Comparison of three control methods for an autonomous vehicle

    Science.gov (United States)

    Deshpande, Anup; Mathur, Kovid; Hall, Ernest

    2010-01-01

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

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

    Science.gov (United States)

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

    2016-02-19

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

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

    Directory of Open Access Journals (Sweden)

    Zutao Zhang

    2016-02-01

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

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

    International Nuclear Information System (INIS)

    Tyree, W.H.

    1991-01-01

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

  12. 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).

  13. An optimal control-based algorithm for hybrid electric vehicle using preview route information

    NARCIS (Netherlands)

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

    2010-01-01

    Control strategies for Hybrid Electric Vehicles (HEVs) are generally aimed at optimally choosing the power distribution between the internal combustion engine and the electric motor in order to minimize the fuel consumption and/or emissions. Using vehicle navigation systems in combination with

  14. Electric vehicle charge planning using Economic Model Predictive Control

    DEFF Research Database (Denmark)

    Halvgaard, Rasmus; Poulsen, Niels K.; Madsen, Henrik

    2012-01-01

    Economic Model Predictive Control (MPC) is very well suited for controlling smart energy systems since electricity price and demand forecasts are easily integrated in the controller. Electric vehicles (EVs) are expected to play a large role in the future Smart Grid. They are expected to provide...... grid services, both for peak reduction and for ancillary services, by absorbing short term variations in the electricity production. In this paper the Economic MPC minimizes the cost of electricity consumption for a single EV. Simulations show savings of 50–60% of the electricity costs compared...... to uncontrolled charging from load shifting based on driving pattern predictions. The future energy system in Denmark will most likely be based on renewable energy sources e.g. wind and solar power. These green energy sources introduce stochastic fluctuations in the electricity production. Therefore, energy...

  15. An Assessment Methodology for Emergency Vehicle Traffic Signal Priority Systems

    OpenAIRE

    McHale, Gene Michael

    2002-01-01

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

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

    Digital Repository Service at National Institute of Oceanography (India)

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

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

  17. 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...

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

    OpenAIRE

    Wang, Quanlu; Sperling, Daniel; Olmstead, Janis

    1993-01-01

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

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

    Science.gov (United States)

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

    2017-09-01

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

  20. The Ariane Transfer Vehicle (ATV) system studies

    Science.gov (United States)

    Thomas, U.; Thirkettle, A.

    1991-08-01

    Two distinct concepts of the Ariane transfer vehicle (ATV) are compared which incorporate existing ATV technology and offer logistics delivery at competitive costs. One concept is based on the Ariane-5 upper stage and the Vehicle Equipment Bay, and the other does not include Ariane-5 functions so that existing upper-stage limitations can be eliminated. Both concepts are required to accomplish the same transport, rendezvous, and berthing maneuvers and allow for controlled destructive reentry. An ATV reference mission is outlined, and key ATV design drivers are listed which include safety requirements, debris protection, and propulsion criteria. The Ariane-5 upgrade is the most cost-effective design although the second design is more operationally efficient. The ATV can potentially be used to relieve the schedule of the shuttle flights required for building the Space Station Freedom.

  1. Inter-vehicle gap statistics on signal-controlled crossroads

    International Nuclear Information System (INIS)

    Krbalek, Milan

    2008-01-01

    We investigate a microscopical structure in a chain of cars waiting at a red signal on signal-controlled crossroads. A one-dimensional space-continuous thermodynamical model leading to an excellent agreement with the data measured is presented. Moreover, we demonstrate that an inter-vehicle spacing distribution disclosed in relevant traffic data agrees with the thermal-balance distribution of particles in the thermodynamical traffic gas (discussed in [1]) with a high inverse temperature (corresponding to a strong traffic congestion). Therefore, as we affirm, such a system of stationary cars can be understood as a specific state of the traffic sample operating inside a congested traffic stream

  2. Seamless Mode Switching for Shared Control of Semiautonomous Vehicles, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Whether it be a crew station, the Shuttle Remote Manipulator System (SRMS), an unmanned ground rover (UGV) or air vehicle (UAV), or teams thereof, the controllers...

  3. 32 CFR 635.27 - Vehicle Registration System.

    Science.gov (United States)

    2010-07-01

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

  4. Attitude control of an orbiting space vehicle.

    Science.gov (United States)

    Sutherlin, D. W.; Boland, J. S. , III; Borelli, M. T.

    1971-01-01

    Study of the normal and clamped modes of operation and dynamic response characteristics of the gimbaled control moment gyro (CMG) designed to fulfill the stringent pointing requirements of the Skylab telescope mount when the spacecraft is under the influence of both external and internal torques. The results indicate that the clamped mode of operation provides a feasible approach for significantly improving the system characteristics.

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

    OpenAIRE

    Mengi, Onur Özdal

    2017-01-01

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

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

    OpenAIRE

    Yang Yang; Chao Wang; Quanrang Zhang; Xiaolong He

    2017-01-01

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

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

    Directory of Open Access Journals (Sweden)

    RATOI, M.

    2010-05-01

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

  8. 'H-Bahn' - Dortmund demonstration system. Automatic vehicle protection system

    Energy Technology Data Exchange (ETDEWEB)

    Rosenkranz

    1984-01-01

    The automatic vehicle protection system of the H-Bahn at the Universtiy of Dortmund is responsible for fail-safe operating of the automatic vehicles. Its functions are protection of vehicle operation and protection of passengers boarding and leaving the vehicles. These functions are managed decentrally by two fail-safe operating controllers. Besides the well-known relay-techniques of railway-fail-safe systems, electronics are applied which are based on safe operating URTL-microcontrollers. These are controlled by software stored in EPROMs. A connection link using glass-fibres serves for safe data-exchange between the two fail-safe operating controllers. The experts' favourable reports on 'train protection and safety during passenger processing' were completed in March 84; thus, transportation of passengers could start in April 84.

  9. Optimal Charge control of Electric Vehicles in Electricity Markets

    DEFF Research Database (Denmark)

    Lan, Tian; Hu, Junjie; Wu, Guang

    2011-01-01

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

  10. Fuzzy Traffic Control with Vehicle-to-Everything Communication.

    Science.gov (United States)

    Salman, Muntaser A; Ozdemir, Suat; Celebi, Fatih V

    2018-01-27

    Traffic signal control (TSC) with vehicle-to everything (V2X) communication can be a very efficient solution to traffic congestion problem. Ratio of vehicles equipped with V2X communication capability in the traffic to the total number of vehicles (called penetration rate PR) is still low, thus V2X based TSC systems need to be supported by some other mechanisms. PR is the major factor that affects the quality of TSC process along with the evaluation interval. Quality of the TSC in each direction is a function of overall TSC quality of an intersection. Hence, quality evaluation of each direction should follow the evaluation of the overall intersection. Computational intelligence, more specifically swarm algorithm, has been recently used in this field in a European Framework Program FP7 supported project called COLOMBO. In this paper, using COLOMBO framework, further investigations have been done and two new methodologies using simple and fuzzy logic have been proposed. To evaluate the performance of our proposed methods, a comparison with COLOMBOs approach has been realized. The results reveal that TSC problem can be solved as a logical problem rather than an optimization problem. Performance of the proposed approaches is good enough to be suggested for future work under realistic scenarios even under low PR.

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

    NARCIS (Netherlands)

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

    2011-01-01

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

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

    DEFF Research Database (Denmark)

    Fossen, T.I.; Blanke, M.

    1999-01-01

    More accurate propeller shaft speed controllers can be designed by using nonlinear control theory. In this paper, an output feedback controller reconstructing the advance speed (speed of water going into the propeller) from vehicle speed measurements is derived. For this purpose a three-state model...... minimizes thruster losses due to variations in propeller axial inlet flow which is a major problem when applying conventional vehicle-propeller control systems. The proposed controller is simulated for an underwater vehicle equipped with a single propeller. From the simulations it can be concluded...... of propeller shaft speed, forward (surge) speed of the vehicle and axial inlet flow of the propeller is applied. A nonlinear observer in combination with an output feedback integral controller are derived by applying Lyapunov stability theory and exponential stability is proven. The output feedback controller...

  13. Nonlinear output feedback control of underwater vehicle propellers using feedback form estimated axial flow velocity

    DEFF Research Database (Denmark)

    Fossen, T. I.; Blanke, Mogens

    2000-01-01

    Accurate propeller shaft speed controllers can be designed by using nonlinear control theory and feedback from the axial water velocity in the propeller disc. In this paper, an output feedback controller is derived, reconstructing the axial flow velocity from vehicle speed measurements, using...... a three-state model of propeller shaft speed, forward (surge) speed of the vehicle, and the axial flow velocity. Lyapunov stability theory is used to prove that a nonlinear observer combined with an output feedback integral controller provide exponential stability. The output feedback controller...... compensates for variations in thrust due to time variations in advance speed. This is a major problem when applying conventional vehicle-propeller control systems, The proposed controller is simulated for an underwater vehicle equipped with a single propeller. The simulations demonstrate that the axial water...

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

    Science.gov (United States)

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

    2010-07-01

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

  15. Combined braking system for hybrid vehicle

    Science.gov (United States)

    Kulekina, A. V.; Bakholdin, P. A.; Shchurov, N. I.

    2017-10-01

    The paper presents an analysis of surface vehicle’s existing braking systems. The technical solution and brake-system design were developed for use of regenerative braking energy. A technical parameters comparison of energy storage devices of various types was made. Based on the comparative analysis, it was decided to use supercapacitor because of its applicability for an electric drive intermittent operation. The calculation methods of retarder key components were proposed. Therefrom, it was made a conclusion that rebuild gasoline-electric vehicles are more efficient than gasoline ones.

  16. Powertrain system for a hybrid electric vehicle

    Science.gov (United States)

    Reed, Jr., Richard G.; Boberg, Evan S.; Lawrie, Robert E.; Castaing, Francois J.

    1999-08-31

    A hybrid electric powertrain system is provided including an electric motor/generator drivingly engaged with the drive shaft of a transmission. The electric is utilized for synchronizing the rotation of the drive shaft with the driven shaft during gear shift operations. In addition, a mild hybrid concept is provided which utilizes a smaller electric motor than typical hybrid powertrain systems. Because the electric motor is drivingly engaged with the drive shaft of the transmission, the electric motor/generator is driven at high speed even when the vehicle speed is low so that the electric motor/generator provides more efficient regeneration.

  17. Powertrain system for a hybrid electric vehicle

    Science.gov (United States)

    Reed, R.G. Jr.; Boberg, E.S.; Lawrie, R.E.; Castaing, F.J.

    1999-08-31

    A hybrid electric powertrain system is provided including an electric motor/generator drivingly engaged with the drive shaft of a transmission. The electric is utilized for synchronizing the rotation of the drive shaft with the driven shaft during gear shift operations. In addition, a mild hybrid concept is provided which utilizes a smaller electric motor than typical hybrid powertrain systems. Because the electric motor is drivingly engaged with the drive shaft of the transmission, the electric motor/generator is driven at high speed even when the vehicle speed is low so that the electric motor/generator provides more efficient regeneration. 34 figs.

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

    OpenAIRE

    Yinsong Wang; Zhizhou Wu; Xiaoguang Yang; Luoyi Huang

    2013-01-01

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

  19. Digital Signal Processing for In-Vehicle Systems and Safety

    CERN Document Server

    Boyraz, Pinar; Takeda, Kazuya; Abut, Hüseyin

    2012-01-01

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

  20. A Novel SHLNN Based Robust Control and Tracking Method for Hypersonic Vehicle under Parameter Uncertainty

    Directory of Open Access Journals (Sweden)

    Chuanfeng Li

    2017-01-01

    Full Text Available Hypersonic vehicle is a typical parameter uncertain system with significant characteristics of strong coupling, nonlinearity, and external disturbance. In this paper, a combined system modeling approach is proposed to approximate the actual vehicle system. The state feedback control strategy is adopted based on the robust guaranteed cost control (RGCC theory, where the Lyapunov function is applied to get control law for nonlinear system and the problem is transformed into a feasible solution by linear matrix inequalities (LMI method. In addition, a nonfragile guaranteed cost controller solved by LMI optimization approach is employed to the linear error system, where a single hidden layer neural network (SHLNN is employed as an additive gain compensator to reduce excessive performance caused by perturbations and uncertainties. Simulation results show the stability and well tracking performance for the proposed strategy in controlling the vehicle system.