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A reference vehicle model is proposed for ESC system, which is used for estimating if the vehicle is in stable conditions. The proposed model is a 2-DOFs nonlinear model that contains the lateral motion and rotational motion around vertical axis. When ESC system works, the lateral acceleration is often above 0.4g and the nonlinearity of vehicle can't be ignored. Therefore the nonlinear relationship...
Acceleration(G), in physics, is the rate of change of velocity of an object. Advanced missiles are capable of generating the axial acceleration(Gx), the tangential acceleration(Gy) and the normal acceleration(Gz) during aerial combat manoeuvres, which has seriously threatened flight reliability. In order to improve the reliability of missiles, it is necessary to carry out acceleration tests on the...
Considering the nonlinear characteristics, model uncertainties and the time-varying road conditions of ground vehicles, a novel traction controller for ground vehicles is presented using nonlinear robust modified sliding mode control method to solve the problem of skid braking and spin acceleration. The current wheel slip could be controlled at the optimal value using this method, so that it could...
Wheel skidding or spinning is dangerous for driving vehicles, and compared to conventional vehicles, electric vehicles are more easily to slip during driving on slippery road. In this paper, a novel traction control method based on wheel-slip control is proposed to improve the safety and stability of electric vehicles. Considering the high nonlinearity and uncertainties of the traction system, this...
In order to prevent the electric vehicle wheels from spinning out on low-friction coefficient [low-μ] roads, the electric vehicle traction control system (TCS) based on active disturbance rejection control (ADRC) is carried out in this paper. Firstly, we set an optimal longitudinal slip ratio as the control target, and consider the motor current and load torque as internal and external disturbance,...
This paper establishes a 15 degree-of-freedom full-car dynamic model for the car of Hongqi HQ3. Output feedback active suspension is designed based on a half-car model. Good ride comfort is achieved by minimizing the H2 norm from disturbances of the road to the vertical acceleration and the pitch acceleration of the car, while safety constraints such as normalized suspension dynamic travels, static/dynamic...
In order to reduce the fatal damage of tire blowout during vehicle operation, a differential flatness based model predictive controller is proposed. A 3 degrees of freedom (DOF) vehicle dynamics model with tire blowout is established, and then the flat outputs are given. The flatness property of the vehicle dynamics is discussed accordingly, and the MPC for the vehicle with a tire blowout stability...
This brief presents a nonlinear observer for estimating the longitudinal and lateral velocities based on Dugoff's tire model and vehicle dynamics. The observer has a fixed gain structure and can make full use of information about acceleration measurements and nonlinear vehicle model. A sufficient condition is derived to guarantee the stability of the observer, and the robustness of the observer with...
In this paper, a motion planning algorithm based on differential flatness for an autonomous vehicle driving in a structured environment with moving obstacles is presented. A descriptions of the structured environment and definitions of safety and availability of the lane are proposed. In order to ensure that the trajectory is feasible and effective, dynamic longitudinal and lateral acceleration constraints...
Reverse top- k queries are rank-aware problems from the view of the product manufacturers, and have gained popularity in recent studies. In this paper, we propose a novel online algorithm for processing monochromatic reverse top- k queries. The algorithm is based on dual plane transformation and is about 10 times faster than existing algorithms. We also propose a data structure RIL (Ranking Inverted...
This paper proposes an optimization method to cam curve design. A uniform B-spline of degree 5 is adopted for cam curve description, and an optimal design model to integrate the design requirements is presented. Using Genetic Algorithm to optimize the control points of B-splines according to the design requirements, an application example on kinematical optimization of cam curve is presented with...
Lyapunov stability theory is used to design a new yaw plane guidance law for missiles against highly maneuvering targets. The presented guidance law needs accurate information on the accelerations of the target both in tangential direction and in normal direction, and on the value of velocity and velocity heading angle of the target, and hence, their estimation methods are also given. The dynamics...
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