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In this paper a torque-to-slip model, oriented to the development of a traction control system based on wheel slip control for powered two-wheelers, is identified. A black-box identification approach is employed to find model parameters, using I/O experimentally measured data. Different tests are employed to analyse different features of the inquired dynamics. In particular, a PRBS based identification...
This paper proposes a new driver support system which uses both the steering wheel angle and the steering torque of the vehicle so as to take into account the characteristics of the driver's operation. The proposed method is based on a gain scheduling control to accomplish the cooperation between the driver and the support system. By numerical experiments which simulate obstacle avoidance, it is shown...
The paper presents a concept, development and comparison of selected control algorithms used in distributed control system of a three wheeled vehicle. First simulations are carried out, then the selected algorithms are tested on a real vehicle. The article includes the description of the mathematical model of the tricycle: kinematics, dynamics, motor drives, central control system, communication network...
Fossil fuel depletion risk forecasting and growing environmental concerns are strong impetus for developing higher efficient transportation system nowadays. Hybridization is considered as one of the most efficient short and mid-term solutions. In particular, series hydraulic hybrid configuration provides a further advantage when it provides more degree of freedom of engine control. However, low energy...
The article presents a synthesis of tricycle model with a unique concept of electric power. Conventional, mechanical coupling of a drive wheel with pedals has been replaced by the use of generator and independent motor drives. The essence of the model includes a distributed form of control system. The paper shows the genesis of the project and the motivation that results from the need to verify the...
A robust wheel slip ratio controller for in-wheel-motor-driven electric vehicles equipped with both hydraulic anti-lock braking systems (ABS) and regenerative braking (RB) systems is designed in this paper. Based on an integration of optimal predictive control design and Lyapunov theory, the issue of uncertain vehicle parameters is addressed. The corresponding braking torque distribution strategy...
The problem of vehicle yaw control is addressed in this paper using a rear active differential. The controller objective is to minimize the yaw-rate error and body slipangle error of target values. A new Sliding mode controller is designed using a nonlinear 2DOF vehicle model and a sliding surface that integrates the vehicle yaw-rate error and slipangle error. Two control law approaches, namely, saturation...
This paper investigates the longitudinal wheel slip tracking control approach for ground vehicle. A mathematical model of a quarter vehicle undergoing a straight-line braking maneuver is used as the control model. Second order sliding mode (SOSM) control approach using super-twisting technique is proposed to manipulate the braking torque to control the wheel slip. The effectiveness of the SOSM is...
This paper researches the yaw dynamics of a plug-in hybrid vehicle with powerfull electric machine mounted on the rear shaft. The power split between the front and rear wheels may induce negative effects on the vehicle yaw stability and vehicle handling. Takagi-Sugeno (TS) modeling is used to design a static output feedback to control the yaw dynamics. Simulations using a detailed vehicle model allow...
This paper discusses the working principle and basic structure of electronically controlled limited slip differential (ELSD). And then, it designs the fuzzy PI self-setting controller for Motor-type ELSD. The simulation and rig test showed that this controller can adjust the limited-slip performance of ELSD according to the driving condition of vehicle. It is beneficial to the application and promotion...
In this paper, a Nonlinear Model Predictive Control (NMPC) is applied for a torque demand control for speed tracking of vehicles with a variable valve lift engine. The engine control must satisfy various constraints, e.g., actuator limitations, drivability and A/F ratio, etc. Therefore, we apply NMPC based on a collocation method which can handle the constraints explicitly. Moreover, a fuel injection...
This paper discusses the profile framework of FlexRay bus for a steering-by-wire (SBW) system. Firstly, the structure of the SBW system and the characteristics of FlexRay bus was analyzed, a SBW system based on FlexRay bus was firstly drafted out, including its dynamic module. Then, the paper mainly focuses on the work principle of the SBW system, especially the design of the FlexRay communication...
In this paper, a vehicle handling assistant control system has been developed to improve vehicle steerability and stability in dynamic vehicle handling maneuvers by utilizing electrical drivetrain based vehicle dynamic control technology. The proposed independent axle torque biasing (ITB) technology takes advantage of the direct yaw control moment obtained from differential left-to-right wheel torques...
The electric drive system for a car has been analyzed using Matlab/Simulink toolbox. We determined the selected motion parameters of the car. The control system for the electric engines has been worked out. Calculation results of the car parameters have been presented. We compared the computer simulations of the electric engine parameters with the measured values. A good agreement has been achieved.
In order to complete the function, performance test and the acceptance of AMT electric control system used for a vehicle, combined with the operation principle of AMT system, the dynamic performance detection test bench for AMT electric control system powered by AC asynchronous motor, was designed. The subsystem composed of AC asynchronous motor and motor controller was designed to simulate electronic...
The paper presents a vehicle yaw stability control strategy devoted to prevent vehicles from spinning and drifting out. The yaw stability control system is integrated with active torque distribution and differential braking system. Active torque distribution systems utilize active differentials to independently control the drive torque distributed to each drive wheel and thus provide active control...
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