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We consider the problem of controlling the yaw and lateral dynamics in heavy vehicles, consisting of combinations of a truck and multiple towed units. In such heavy vehicle configurations, undesired yaw rate and lateral acceleration amplifications, causing tail swings and lateral instabilities of the towed units, can be observed at high speed. In this paper, we present a predictive control approach...
A dynamic model of four degree-of-freedom four-wheel-steering vehicle is built. By using differential equations of motion of free rigid body, the steering and braking situation is considered and simulated. The results show that this model is close to the steering and braking situation.
The paper presents aspects concerning the modeling and driving scenarios of a class of vehicular power train systems. The modeling includes an analysis of the system components which include the spark-ignition internal combustion engine, the torque converter, the metal V-belt type continuously variable transmission and the wheels. Four driving scenarios are illustrated by digital simulation results:...
Accurate modeling and simulation of submersible vehicle is essential for autonomous control and maneuverability research. In this paper, a variable direction rotatable axis of variable vector propeller (VDRA-VVP) is proposed and researched innovatively. The structure and working principle of VDRA-VVP of submersible vehicle are described and the nonlinear mathematic model of the submersible vehicle...
The requirement for increased mobility of unmanned ground vehicles (UGVs) operating in urban settings must be addressed if robotic technology is to augment human efforts in military relevant roles and environments. In preparation for this role, Defence R&D Canada - Suffield is exploring novel mobility platforms that use intelligent mobility algorithms to improve robot mobility in unknown highly...
The safety and comfort control of vehicles in certain cases is considered in this paper. We hope to use detectors plus advanced control methods to realize the satisfactory tracking control, even the proper velocity and acceleration control of vehicles. Because of the intrinsically nonlinear, highly plant uncertain of vehicles and closely interconnected among vehicles, here the method based on the...
In this work, we apply iterative learning control to address ramp metering in a macroscopic level freeway environment. By formulating the original ramp metering problem as a output tracking and disturbance rejection problem, iterative learning control can be applied and improve the traffic response. The learning mechanism is based on traffic flow. To mimic a real traffic environment, a simulator is...
Suspension is a crucial assembly for automobile controlling stability and safety. For achieving the effective and precise detection the suspension system, the simulation model based on 1/4 vehicle dynamic model is constructed. The model includes linear sinusoidal frequency excitation signal, 1/4 vehicle suspension's two degree of freedom vibration system, body acceleration, relative dynamic load,...
Possible approaches to the mathematical description of different types of flexible vehicles are observed. Mass and aerodynamic characteristics are changing considerably during the flight of aerospace vehicles. From the point of view of control theory such vehicles are the typical non-linear and non-steady plants. The aim of designer is to create the light construction. For these reason such objects...
This article applies iterative learning control (ILC) to road simulation test system and simulates the control system to reproduce a stochastic pavement profile. With uniform white noise as input, using actual measured input-output data and dynamic neural network, system nonlinear autoregressive moving average model (NARMA) was established. Regarding road simulator control mission as a perfect tracking...
Characteristics of clutch engagement at different engagement stages were different, so different control methods were used in different stages. At quick engagement stage proportional control was used. Control system of starting acceleration stage was serious non-linear and it was difficult to establish precise mathematical model, so fuzzy control was adopted. At synchronization engagement stage clutch...
Automotive SBC system is a nonlinear time-varying and uncertain system, tire character changes in the scope of large, and vehicles model is uncertain, so it is difficult to establish the precise mathematical model for non-linear vehicle braking process. Based on the basis of model parameters gaining the estimated optimal slip rate, this paper presents using adaptive RBF neural network sliding mode...
A signal control system is considered along an arterial in Hiroshima city from the viewpoint of a digital control for traffic flow dynamics. The signal control system of the congestion length is described by a nonlinear time-varying discrete dynamic system and synthesized by using the feedback control based on the volume balance at each signalized intersection. A signal control algorithm is presented...
Tracked vehicle runs under dynamic condition frequently. Due to the inner complex physical and chemical changes in the course of engine operation, its system model are highly non-linear, so it is difficult to obtain the precision of model by means of mechanism modeling. To meet the requirement of making automatic shift schedule, the best power shift schedules of a tracked vehicle are deduced in this...
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