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According to the principle of the gear overall size as small as possible, the structural analysis of multistage micro-planetary transmission is carried out. It is found that a 2K-H multistage micro-planetary gear reducer meets with the principle requirement. On this basis of the torque, power balance equations and force analysis of the basic members, the power distributions of a 2K-H multistage micro-planetary...
Heavy commercial vehicles exhibits lower directional stability and controllability limits than the other road vehicles. In this works, the roll response characteristics of partially-filled tank vehicles are investigated taking into account the liquid sloshing. To characterize the additional forces and moments resulting from liquid slosh within a partially filled tank, an equivalent pendulum model...
Traction control system is studied based on the Omni-directional vehicle which is built by our research group. The research mainly involves two aspects, vehicle state estimation and vehicle traction control logic design. Extended Kalman Estimation relying on multiple degrees of freedom vehicle model is used to estimate vehicle longitudinal speed, lateral speed, side slip angle, and yaw rate. Traction...
With the chassis electronic technology evolving, the chassis control technologies for active safety have been widely used. Through active intervention in the vehicle horizontal and vertical dynamics, electronic control systems can improve vehicle stability and handling greatly, thereby ensuring the safe driving of vehicles. This article will coordinate active steering, active braking and active suspension...
The rollover warning technology reported in this paper focuses on detection of heavy duty truck real-time rollover propensities. The paper suggests a new algorithm of rollover warning for heavy duty vehicle based on Kalman filter technology. Its feasibility for implementation in a heavy duty truck rollover threat detection system is demonstrated through vehicle dynamic simulation studies. The effectiveness...
This paper proposes a real-time rollover threat warning system (RWS) of heavy duty vehicle. The function of RWS is used to determine the rollover threat of heavy duty vehicle and warn the driver to adjust the operation during dangerous conditions. The paper suggests a new algorithm of rollover warning for heavy duty vehicle based on accurate PTR metric. The effectiveness of the RWS is validated by...
This paper presents a novel approach for designing robust vehicle rollover prevention controllers. The control methodology is based on guaranteeing a set of linear matrix inequality (LMI) conditions, which results in controllers that are robust stable. An active braking control is used to decrease the rollover risk of heavy vehicles. The paper also obtains the controller which can adopt the robustness...
A simplified 6-axle linear vehicle model to determine the stability control associated with tractor semi-trailers is proposed. The propose of this model is to describe the vehicle dynamics accurately so as to design the active safety controller well. Verification of the 6-axle planar model is performed by putting drastically handling maneuver inputs into the model steering, then comparing the response...
The active safety and stability of tractor semi-trailer have becoming big concern among the road transportation industry. The paper sets up a six-axle plane dynamic model for simulating the yaw/roll stability of heavy tractor semi-trailer using Matlab/Simulink. LQR controller is chosen to produce the optimum compensate yaw moment to correct the vehicle path based on the bias of yaw rate and lateral...
Heavy truck rollovers are dangerous and possibly fatal accidents. This paper discusses a robust control algorithm to improve the roll stability of heavy trucks. The controller minimizes the lateral load transfer (LTR) to reduce the rollover probability using differential braking. The paper also designs the robust controller which can adopt the robustness to variations in vehicle speed. The simulation...
This paper sets up a vehicle dynamic model which is used to determine rollover risk of heavy truck under various driving conditions. Using this real-time dynamic model, it proposes a new measure of performance for vehicle rollover prevention, the Load Transfer Ratio (LTR), and design the differential braking controller based on LMI robust control to prevent rollover occur. The paper also obtains the...
Active/semi-active suspension systems are getting widely accepted for their potential to improve ride comfort of passenger cars. In this work, the paper develops the model of magnetorheological fluid (MRF) damper to describe the hysteretic behaviors and damper characteristic. It used the modeling-after-test method to establish an accurate MRF-damper model, and the MRF damper model is consecutive adjustable...
The best advantage of the DYC is it can greatly improve vehicle handling and stability. It is proposed integrated control of four wheel steering systems (4WS) and direct yaw moment control. A desirable vehicle model is established with the best performance of side slip angle and yaw rate. The strategy of both the forward controller and feedback controller of tracking the desirable model is adopted...
The road-tire friction coefficient has important role in vehicle dynamic control systems like adaptive cruise control system (ACC), vehicle dynamic control (VDC), direct yaw-torque control system (DYC) etc. This paper introduces a new predictive methodology for the estimation of road-tire friction coefficient by using Dugoff tire model and the extended Kalman filter. At the same time, a simulation...
This paper proposes a chassis integrated control system theoretically utilizing SBW system by using 4WS method to improve vehicle handling and stability. With the application of integrated SBW and 4WS strategy, this paper investigates the effectiveness of the proposed control system in enhancing vehicle handling and stability. Based on the 7 DOF vehicle dynamic models, the paper have proposed integrated...
The paper sets up a vehicle dynamic model which is used to determine rollover risk of heavy tractor-semitrailer under various driving conditions; therefore it can help the driver to react accordingly. Using this real-time dynamic model, the predictive time to rollover (PTR), which is decided by load transfer ratio (LTR) of trailer axle when it reaches its limit value, can be determined as the rollover...
The research developments and structural feature of electro-hydraulic brake (EHB) system were investigated. EHB and vehicle dynamic models were established and analyzed. The control strategy was accomplished for vehicle stability control with EHB system and verified by simulation in typical condition of steering under braking at low-friction condition. The simulation results show that the controller...
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