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Based on the single wheel vehicle model, a sliding mode variable structure control strategy with fractional exponential reaching law is proposed for the ABS control system. In this paper, the integral sliding mode surface is used to design the switching function, and the fractional exponential reaching law is designed by using the definition and properties of fractional exponential differential equations...
Military vehicles have to meet requirement of mobility. Vehicle capability to overcome heavy terrain (mud, snow, etc.) and terrain obstacles increase vehicle survivability in a battlefield. Experiments, field tests and operation data mining are common manners for vehicle mobility evaluation and dependability prediction, yet current military vehicles of Czech armed forces have small value of driven...
A novel nonlinear observer is presented in this paper for the estimation of vehicle velocity together with the tire-road friction coefficient based on a longitudinal tire force observer and a lateral tire friction model. First, the longitudinal tire forces are estimated based on a filter observer. Then, according to the calculation of lateral tire forces, a nonlinear observer is designed to estimate...
This paper aims at proposing an improved generalized dynamic rollover threshold of multi-axial vehicles based on lateral load transfer ratio (LTR) and providing the foundation for rollover prediction. The study is carried out by utilizing vehicle handling dynamics to build a vehicle rollover model, which takes into account the characteristics of suspension and limit equilibrium of tires' lifting-off...
In recent years, substantial research efforts have been invested by industry and academia into the development of narrow tilting three wheeled vehicle technology as a viable alternative to four and two wheel vehicles for personal mobility. But there are challenges in order to make such vehicles safe, comfortable and acceptable to consumers. In this paper, a mathematical model of an electric narrow...
In this paper, the mathematical model of an electric vehicle, as well as the control system for avoiding pedestrians in urban traffic is described. The vehicle is modeled as a continuous system consisting of several subsystems. The discrete model of several sensors and actuators, a decision system, and low-level controllers for acceleration/braking and steering systems are added. Based on this model,...
Autonomous vehicles can risk dangerous rollover if they corner without taking roll motion into consideration. This paper proposes a control algorithm to follow a curved road while simultaneously preventing rollover. Model predictive control is applied to minimize roll motion throughout cornering. The prediction of vehicle state is based on a four-wheel nonlinear vehicle model with roll dynamics and...
A new concept that integrates a permanent magnet (PM) synchronous motor (PMSM) and a 2-step planetary gearbox for heavy machinery electric traction is introduced. A clear need for this kind of a solution is recognized in the field of diesel-electric hybrid off-road vehicles as electrical machine cannot fulfill alone all the demands of the typical load cycles of working machines. The technology introduced...
In this paper a hybrid Differential Evolution based Biogeography Based Optimization (DEBBO) which converge quickly rather than algorithms without hybridization has been proposed for the tuning of Fuzzy Logic Controller (FLC) applied to a Quarter Car (QC) model with the RMS value of body acceleration as the performance index. It has been proven that the proposed controller works better than the conventional...
Effects of different design parameters on the performance of a hybrid city bus were studied. A system simulation model of the hybrid city bus was developed and used for studying the effects of drive motor torque and vehicle mass on vehicle performance, fuel consumption and stability during regenerative braking. Increasing the maximum torque by 60 % from the nominal value was found to improve the fuel...
This research estimates the minimum intervention distance needed for a vehicle to safely avoid an obstacle, while also preventing wheel lift and tire skid. The intervention strategy considered is an open-loop lane change avoidance trajectory. As the vehicle approaches the obstacle, it continually determines the available lane change maneuver, relying on predictions of the Zero-Moment Point (ZMP) metric...
In-wheel motor drive (IWMD) is currently a hot topic in electric vehicle research and development for its remarkable advantages. But the extra wheel mass from the motor worsens vehicle ride comfort and road holding. Motor vibration is another problem, which does harm to motor performance and service life. As a trial response to the above problems, a 1/4 car model is established for electrical vehicles...
The driving range of electric vehicles can be extended using regenerative braking. Regenerative braking uses the electric drive system, and therefore only the driven wheels, for decelerating the vehicle. Braking on one axle affects the stability of the vehicle, especially for road conditions with reduced friction. This paper discusses three control strategies for preventing loss of stability while...
In this paper, the Laguerre functions in model predictive control approach for active front and rear steering for path following of autonomous car vehicle is developed and presented. The method is based on three degree of freedom linear bicycle model with linear tire model approximation. The controller based on Laguerre functions is designed to follow the desired trajectory by stabilizing the vehicle...
The matching of tractor-implement system is very difficult task in India because variety of tractor models ranging from 10 to 45kW is prevalent here. To overcome the problem of matching tractor-implement system, a decision support system (DSS) was developed in Visual Basic 6.0 programming language for 2-wheel drive (2WD) tractors. The DSS provides intuitive user interfaces by linking databases such...
The vehicle's steering wheel angle pulse input performance is an representative test of handling and stability, it characterizes vehicle's handling and stability by the transient response of the steering wheel angle pulse input. Taking the vehicle for example, in ADAMS software, vehicle dynamics model is built. According to GB/T6323.3-94 standards, the steering wheel angle pulse input virtual test...
Aimed at the particularity of the vehicles ride pulse input running test, based on the rigid ring tire model and effect road profile, the 4 DOF dynamics model of vehicles is set up. Using Visual C++ 6.0 as development platform, the digital simulation program was developed by Runge-Kutta method. Comparison between simulation result and test result indicates that there is a well consistency between...
This paper presents a linear dynamics model of tractor/full trailer with six degrees of freedom, and a series of simulations are performed on obstacle avoidance manoeuvers in which the combination vehicle moves at a constant forward speed. It is found that the ratio of the peak lateral acceleration of the full trailer's center of gravity (CG) to that of the tractor is 2.3, meanwhile, the articulated...
A multi-body dynamic model of Electric Power Steering (EPS) is set up by using ADAMS in this paper, and also a PID control strategy for the assist torque of EPS is described. The dynamic model & control system model are combined by ADAMS/Controls. Based on these, steering lightness and dynamic characteristic of vehicle are investigated by simulation analysis. The results show that the dynamic...
A Steady-State model with nine degrees of freedom primarily used in driving mode for motorized wheels electric vehicle has been developed, in which the related equations of motion and the state variables are deduced. With Matlab/Simulink software, the computer simulation model is built. The kinematics properties of the model have been studied by the simulation of constant velocity steering and accelerated...
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