In this paper, an electro-hydraulic electronic stability program composite control method is proposed for electric wheeled vehicles based on interacting multiple model state observer. Hydraulic system model, electric-driving wheel model, 2-degrees-of-freedom vehicle reference model and 7-degrees-of-freedom vehicle model are established at the beginning. The necessary state estimations and calculations are also accomplished utilising interacting multiple model unscented Kalman filter. Then, the proposed upper controller calculates the additional yaw moment by fuzzy sliding mode control, and the lower controller distributes the longitudinal force and additional yaw moment based on the quadratic programming optimisation allocation to improve the vehicle handling stability. Finally, using Simulink and CarSim, a joint simulation test platform is established. The simulation results show that the state observer can estimate the driving state parameters accurately enough under various conditions, and coordination control method mentioned in this paper can significantly improve the electric wheeled vehicle's handling stability under extreme conditions.
{"title":"Interacting multiple model state observer-based coordination control of electro-hydraulic composite electronic stability program","authors":"Houzhong Zhang, Jiasheng Liang, Hao-bin Jiang, Xing Xu","doi":"10.1504/ijvsmt.2020.10030677","DOIUrl":"https://doi.org/10.1504/ijvsmt.2020.10030677","url":null,"abstract":"In this paper, an electro-hydraulic electronic stability program composite control method is proposed for electric wheeled vehicles based on interacting multiple model state observer. Hydraulic system model, electric-driving wheel model, 2-degrees-of-freedom vehicle reference model and 7-degrees-of-freedom vehicle model are established at the beginning. The necessary state estimations and calculations are also accomplished utilising interacting multiple model unscented Kalman filter. Then, the proposed upper controller calculates the additional yaw moment by fuzzy sliding mode control, and the lower controller distributes the longitudinal force and additional yaw moment based on the quadratic programming optimisation allocation to improve the vehicle handling stability. Finally, using Simulink and CarSim, a joint simulation test platform is established. The simulation results show that the state observer can estimate the driving state parameters accurately enough under various conditions, and coordination control method mentioned in this paper can significantly improve the electric wheeled vehicle's handling stability under extreme conditions.","PeriodicalId":35145,"journal":{"name":"International Journal of Vehicle Systems Modelling and Testing","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46931387","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-07-21DOI: 10.1504/ijvsmt.2020.10030670
Zhao Yunfei, Guo Ronghui, Fangwu Ma, Song Jinlong
The power of a range-extended electric bus comes from its battery and range-extender. How to design the range-extender working point for the vehicle in the process of running is the key factor to achieve energy conservation and emission reduction. To solve this problem, a vehicle model was built by using AVL Cruise simulation software. Through Cruise and Isight co-simulation optimisation, a multi-objective optimisation model for per 100-km fuel consumption and pollutant emission is established. Optimal variables include upper and lower limits of the power unit and working point of the range-extender. Adaptive mutation genetic algorithm (AMGA) was used as optimisation algorithm. Results showed that fuel consumption and pollutant emissions were effectively reduced. The per 100-km fuel consumption decreased by 48.0%, carbon monoxide emission decreased by 49.6%, hydrocarbon emission decreased by 47.28%, and nitrogen oxide emission decreased by 51.1%. The economics of range-extended electric bus have been greatly improved.
{"title":"Economic optimisation of range-extended electric bus based on AMGA algorithm","authors":"Zhao Yunfei, Guo Ronghui, Fangwu Ma, Song Jinlong","doi":"10.1504/ijvsmt.2020.10030670","DOIUrl":"https://doi.org/10.1504/ijvsmt.2020.10030670","url":null,"abstract":"The power of a range-extended electric bus comes from its battery and range-extender. How to design the range-extender working point for the vehicle in the process of running is the key factor to achieve energy conservation and emission reduction. To solve this problem, a vehicle model was built by using AVL Cruise simulation software. Through Cruise and Isight co-simulation optimisation, a multi-objective optimisation model for per 100-km fuel consumption and pollutant emission is established. Optimal variables include upper and lower limits of the power unit and working point of the range-extender. Adaptive mutation genetic algorithm (AMGA) was used as optimisation algorithm. Results showed that fuel consumption and pollutant emissions were effectively reduced. The per 100-km fuel consumption decreased by 48.0%, carbon monoxide emission decreased by 49.6%, hydrocarbon emission decreased by 47.28%, and nitrogen oxide emission decreased by 51.1%. The economics of range-extended electric bus have been greatly improved.","PeriodicalId":35145,"journal":{"name":"International Journal of Vehicle Systems Modelling and Testing","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66698305","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-07-21DOI: 10.1504/ijvsmt.2020.10030676
Jing Gan, Xiao-bin Fan, Zeng Song, Mingyue Zhang, Bin Zhao
According to the characteristics of an electric vehicle with hub motors, LabVIEW vehicle test system was developed based on GPS/INS integrated navigation system. Based on the dynamics of vehicle system, the estimation of centre-of-mass lateral deviation was designed. Firstly, the universal data acquisition card and the LabVIEW software were used to build the testing system of an electric vehicle with hub motors. The data parameters of GPS/INS integrated navigation system were collected and stored in realtime. Secondly, the dynamic simulation method was used to build a vehicle model with seven degrees of freedom to estimate the driving state parameters. Finally, the experimental data and simulation results were contrasted to analyse the accuracy of the simulation experiment. The experimental results show that the test bed system worked effectively and its ability of data collection and analysis has been effectively improved. The estimation of vehicle state parameter is accurate, which lays a good foundation for the research on electric vehicles with hub motors in future.
{"title":"Development of vehicle test system and vehicle state estimation based on GPS/INS integrated navigation system","authors":"Jing Gan, Xiao-bin Fan, Zeng Song, Mingyue Zhang, Bin Zhao","doi":"10.1504/ijvsmt.2020.10030676","DOIUrl":"https://doi.org/10.1504/ijvsmt.2020.10030676","url":null,"abstract":"According to the characteristics of an electric vehicle with hub motors, LabVIEW vehicle test system was developed based on GPS/INS integrated navigation system. Based on the dynamics of vehicle system, the estimation of centre-of-mass lateral deviation was designed. Firstly, the universal data acquisition card and the LabVIEW software were used to build the testing system of an electric vehicle with hub motors. The data parameters of GPS/INS integrated navigation system were collected and stored in realtime. Secondly, the dynamic simulation method was used to build a vehicle model with seven degrees of freedom to estimate the driving state parameters. Finally, the experimental data and simulation results were contrasted to analyse the accuracy of the simulation experiment. The experimental results show that the test bed system worked effectively and its ability of data collection and analysis has been effectively improved. The estimation of vehicle state parameter is accurate, which lays a good foundation for the research on electric vehicles with hub motors in future.","PeriodicalId":35145,"journal":{"name":"International Journal of Vehicle Systems Modelling and Testing","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43645219","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-01-01DOI: 10.1504/IJVSMT.2020.10036817
Xuemeng Liang, Zifeng Zhang, Hongxun Fu
{"title":"Theoretical analysis on cornering properties of the mechanical elastic wheel based on a mixed modelling method","authors":"Xuemeng Liang, Zifeng Zhang, Hongxun Fu","doi":"10.1504/IJVSMT.2020.10036817","DOIUrl":"https://doi.org/10.1504/IJVSMT.2020.10036817","url":null,"abstract":"","PeriodicalId":35145,"journal":{"name":"International Journal of Vehicle Systems Modelling and Testing","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66698193","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-01-01DOI: 10.1504/ijvsmt.2020.10030673
Fatemeh Gheshlaghi, Zeinab El Sayegh, Mirwais Sharifi, M. E. Gindy
{"title":"Prediction and validation of terramechanics models for estimation of tyre rolling resistance coefficient","authors":"Fatemeh Gheshlaghi, Zeinab El Sayegh, Mirwais Sharifi, M. E. Gindy","doi":"10.1504/ijvsmt.2020.10030673","DOIUrl":"https://doi.org/10.1504/ijvsmt.2020.10030673","url":null,"abstract":"","PeriodicalId":35145,"journal":{"name":"International Journal of Vehicle Systems Modelling and Testing","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66697980","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-01-01DOI: 10.1504/IJVSMT.2020.114979
A. G. Vosloo, P. Els
A hydropneumatic semi-active suspension system for an off-road vehicle, that can switch between two discrete damping characteristics as well as two discrete spring characteristics, has been successfully developed and implemented previously. This paper investigates the feasibility of expanding the concept to include four discrete spring characteristics as well as continuously variable damping by controlling two proportional solenoid valves, which can variably restrict flow paths to two accumulators. Spring, damping and response time characteristics are determined experimentally, modelled mathematically and validated with experimental measurements. The model incorporates an iterative solver to determine the flow rate through each valve and the change in the accumulator volumes. The accumulator model uses real gas theory, while also taking compressibility of the oil and heat transfer into account. Damping is calculated by a velocity and solenoid current dependent curve-fit model, parameterised from experimental data.
{"title":"Hydropneumatic semi-active suspension system with continuously variable damping","authors":"A. G. Vosloo, P. Els","doi":"10.1504/IJVSMT.2020.114979","DOIUrl":"https://doi.org/10.1504/IJVSMT.2020.114979","url":null,"abstract":"A hydropneumatic semi-active suspension system for an off-road vehicle, that can switch between two discrete damping characteristics as well as two discrete spring characteristics, has been successfully developed and implemented previously. This paper investigates the feasibility of expanding the concept to include four discrete spring characteristics as well as continuously variable damping by controlling two proportional solenoid valves, which can variably restrict flow paths to two accumulators. Spring, damping and response time characteristics are determined experimentally, modelled mathematically and validated with experimental measurements. The model incorporates an iterative solver to determine the flow rate through each valve and the change in the accumulator volumes. The accumulator model uses real gas theory, while also taking compressibility of the oil and heat transfer into account. Damping is calculated by a velocity and solenoid current dependent curve-fit model, parameterised from experimental data.","PeriodicalId":35145,"journal":{"name":"International Journal of Vehicle Systems Modelling and Testing","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66698259","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-01-01DOI: 10.1504/IJVSMT.2020.114982
Hongxun Fu, Zifeng Zhang, Xuemeng Liang
The mechanical elastic wheel (MEW) is a new type of non-pneumatic tyre, which is characterised by the elastic-rings and hinge-groups to replace the compressed air of ordinary tyres. A mixed modelling method was used to theoretically analyse steady-state cornering properties of MEW. Considering structure properties and using the basic theory of the brush model, a simplified theoretical model for steady-state cornering properties of MEW was set up. Test data of MEW cornering properties under different vertical loads was used to establish the fitting models on half contact length, lateral stiffness and sliding friction coefficient. Based on the steady-state cornering simplified model and the fitting models, the MEW cornering mixed model was constructed. Comparing theory simulation result with test result, it is indicated that the mixed model has relatively high prediction accuracy. Therefore, certain reference could be provided for optimising MEW structure and improving cornering performance.
{"title":"Theoretical analysis on cornering properties of MEW based on mixed modelling method","authors":"Hongxun Fu, Zifeng Zhang, Xuemeng Liang","doi":"10.1504/IJVSMT.2020.114982","DOIUrl":"https://doi.org/10.1504/IJVSMT.2020.114982","url":null,"abstract":"The mechanical elastic wheel (MEW) is a new type of non-pneumatic tyre, which is characterised by the elastic-rings and hinge-groups to replace the compressed air of ordinary tyres. A mixed modelling method was used to theoretically analyse steady-state cornering properties of MEW. Considering structure properties and using the basic theory of the brush model, a simplified theoretical model for steady-state cornering properties of MEW was set up. Test data of MEW cornering properties under different vertical loads was used to establish the fitting models on half contact length, lateral stiffness and sliding friction coefficient. Based on the steady-state cornering simplified model and the fitting models, the MEW cornering mixed model was constructed. Comparing theory simulation result with test result, it is indicated that the mixed model has relatively high prediction accuracy. Therefore, certain reference could be provided for optimising MEW structure and improving cornering performance.","PeriodicalId":35145,"journal":{"name":"International Journal of Vehicle Systems Modelling and Testing","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66698283","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-01-01DOI: 10.1504/IJVSMT.2020.10037620
M. Drechsler, T. Fiorentin
{"title":"Vehicle dynamics: experimental analysis of sedan and sport utility vehicle","authors":"M. Drechsler, T. Fiorentin","doi":"10.1504/IJVSMT.2020.10037620","DOIUrl":"https://doi.org/10.1504/IJVSMT.2020.10037620","url":null,"abstract":"","PeriodicalId":35145,"journal":{"name":"International Journal of Vehicle Systems Modelling and Testing","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66698213","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-01-01DOI: 10.1504/ijvsmt.2020.10034038
Janaína R. Amaral, T. Fiorentin, H. Göllinger
{"title":"Improvement of vehicle stability using a controller based on reinforcement learning","authors":"Janaína R. Amaral, T. Fiorentin, H. Göllinger","doi":"10.1504/ijvsmt.2020.10034038","DOIUrl":"https://doi.org/10.1504/ijvsmt.2020.10034038","url":null,"abstract":"","PeriodicalId":35145,"journal":{"name":"International Journal of Vehicle Systems Modelling and Testing","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66698024","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-01-01DOI: 10.1504/IJVSMT.2020.10037612
Majid Khan Majahar Ali, M. Rahman, M. Ismail
{"title":"Comparing the calibration methods for intelligent driver model using Beijing data","authors":"Majid Khan Majahar Ali, M. Rahman, M. Ismail","doi":"10.1504/IJVSMT.2020.10037612","DOIUrl":"https://doi.org/10.1504/IJVSMT.2020.10037612","url":null,"abstract":"","PeriodicalId":35145,"journal":{"name":"International Journal of Vehicle Systems Modelling and Testing","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66698204","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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