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Real-time information about the current tyre-road friction coefficient is important for vehicles with increasing levels of automation to adapt intervention thresholds and vehicle velocity. Online friction estimation poses large challenges in terms of availability and accuracy of the estimate. When estimating the friction based on the slip and force of a tyre, the accuracy of the estimate depends on...
The optimal speed trajectory for a heavy duty truck is calculated by using the Pontryagin's maximum principle. The truck motion depends on controllable tractive and braking forces and external forces such as air and rolling resistance and road slope. The solution is subject to restrictions such as maximum power and position dependent speed restrictions. The intended application is driving in environments...
This paper aims to control roll, pitch and vertical displacement of the suspended mass in a passenger vehicle during on-road drive by means of controlling the active suspension system. One of the goals of this control is to isolate the suspended mass in the vehicle from any road perturbation to ensure a big amount of comfort to the passengers (less roll, less pitch and less vibrations). Two strategies...
This paper presents an artificial neural networks (ANN) and proportional-integral-derivative (PID) controller design for electrohydraulic active vehicle suspension model, considering nonlinear dynamics of the actuator. First, the PID controller is used to estimate the suspension control force required for the system stabilization. An ANN configuration is proposed to deal with the nonlinear actuator...
This paper proposes a novel driving-assistance system for manual wheelchairs with consideration of both uphill and downhill conditions. On an inclined road, there is a high risk of a wheelchair moving in a direction that the user does not intend. In our previous works, the user has driven our assistive wheelchair in the usual manner. Our proposed system estimates its user's intentions and passively...
The electric/hybrid vehicle are promising technologies and practical for the transport and the environment. For energy management, the vehicle longitudinal dynamics used to estimate vehicle power demands depend on several parameters, including its mass and its rolling conditions. This study compared the methods of estimating the rolling resistance coefficient and mass to establish energy planning...
For the inverse dynamic analysis of 6-DOF spindle coupled road load simulator, based on virtual prototype model, the inverse dynamics model is established for the series-parallel hybrid mechanism by using the Newton Euler method. The Aim is to solve the problem when the desired six-dimensional force of rig is known, how to solve the driving forces of the six hydraulic cylinders. The final validation...
To reduce the energy consumption of active suspension, an coordinated control strategy of the energy management for the active suspension with linear motor is proposed. The quarter model of vehicle active suspension is established to analyze active mode and regenerative mode for the active suspension with linear motor. And the relationship between the optimal active force and suspension speed is analyzed...
The motor vehicles industry has shown a mechatronic system with intelligent and autonomous properties. The mechatronics system is integration of hardware components, implementation of advance control function characterize and information technology. Vehicle suspensions systems typically rated by its ability to provide good road handling and improve passenger comfort. Active suspension poses the ability...
Semi-active suspensions offer a large potential to improve the trade-off between ride comfort and road-holding compared to passive suspensions. In order to exploit this potential, the suspension control approach should explicitly consider the force limits of the semi-active damper. For this purpose, a Linear Parameter Varying (LPV) plant with a saturation indicator and a saturation transformer parameter...
Active wing has the potential to increase the stability of racing cars by down-force as a result of aerodynamics pressure energy. In this paper a novel way of wing modelling and control is introduced. The proposed model is driven by using the second and the third Newton law and is also theoretically calculated by some simple formulation. Moreover, a proof to show how the performance increases is given...
The paper deals with linear and nonlinear feedback control for a half-car model including Spencer model of the magnetorheological damper. The vehicle model was subjected to sinusoidal road excitation corresponding to a rough road of class F and selected according to the ISO 8608. All control schemes were assessed using a quality index closely related to the ride comfort and evaluated based on an averaged...
Aimed at the problem that it is easy for buses to roll in the extreme-turn conditions, the paper finished a series of analysis. First, bus turning driving dynamics model was established based on the effect of suspension motion on roll angle. In the extreme-turn conditions Roll stability and critical roll angle threshold were analyzed, and formulas of roll angle prediction and roll angle threshold...
Lunar soil sampling is the premise of the analysis of lunar soil and the study of lunar environment and evolutional history. Because of the restrictions of the sampling method, the size of drillers, the drilling pressure and the output power of driller, the traditional digging and vertical drilling methods can only acquire the samples from lunar surface to 3 meters deep. In order to acquire deeper...
This paper presents the integration of previously developed Matlab/Simulink® design model and control blocks in order to simulate the entire braking energy transfer of a two front wheel-driven electric vehicle. The overall system modules consist of a hybrid energy storage system, two interior permanent magnet synchronous motors and the vehicle model. Other blocks like braking forces distribution module...
This paper proposes a novel locomotion robot that slides and rotates on a slippery downhill by utilizing the dynamical effect of an actively-controlled wobbling mass. First, we introduce a 4-DOF seedlike robot model that consists of two identical arc-shaped body frames and a short link, and develop the equation of motion, friction dynamics, and control law for generating a wobbling motion. Second,...
This paper presents a novel corner-based force estimation method to monitor tire capacities required for the traction and stability control systems. This is entailed for more advanced vehicle stability systems in harsh maneuvers. A novel estimation structure is proposed in this paper for the longitudinal, lateral, and vertical tire forces robust to the road friction condition. A nonlinear and a Kalman...
This paper aims at studying the changes in the number of pedestrians who go across road in “Chinese ways” to discover the evolution laws and behavior influential factors. The model including pedestrians crossing behavior analysis without supervising are established, and the profit matrix is acquired by intercepting the scene of “Chinese style road crossing”. The influence of variety of decision-making...
This paper deals with the problem of integrated active seat suspension. The control strategy is based on inertial delay control (IDC) combined with sliding mode control (SMC). The road disturbance, reflected through the sprung mass position and velocity and system uncertainties estimated in real time using IDC and compensated using the control. The proposed strategy is evaluated by simulation for...
Optimal control techniques have been widely applied to the control of active suspensions. However, most of these applications did not consider the nonlinear effects existing in real suspension systems. In this paper, a constrained nonlinear quarter-car active suspension is simplified and modeled as a piecewise affine (PWA) system where the suspension elements may collide with bump stops or the tire...
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