Pub Date : 2024-06-02DOI: 10.1177/09544070241246830
Yan Liu, Sucai Zhang, Yongfu Wang, Gang Li
To solve the uncertainties in permanent magnet synchronous motor (PMSM) driven steer-by-wire (SbW) system, a prescribed-performance-control (PPC) based finite-time fuzzy controller is proposed. Specifically, the dynamics of SbW system driven by PMSM is analyzed, and combine PPC technology to transform the tracking error coordinates. Then, the velocity signal is obtained from the sigmoid function-based tracking differentiator by using the position signal. To solve the problem of mismatched disturbance, fuzzy logic system (FLS) are used as a universal approximator to estimate the lumped nonlinear friction and other unknown functions, the boundary of lumped disturbance is estimated by the designed adaptive updating law. By fusing the designed virtual controller and the intermediate control law, the controller needs no precise parameters of system, under which the effect of uncertainty of control gain can be compensated completely. Finally, rigorous theoretical analysis based on the Lyapunov stability theory is provided to demonstrate the finite-time stability of the closed-loop system under consideration. Simulation and experiment results are presented to show the effectiveness of the developed control approach, and some comparisons are given to show the rapid and accurate position tracking control performance.
{"title":"Combining finite-time control and prescribed tracking performance for uncertain PMSM driven steer-by-wire system with unknown disturbance","authors":"Yan Liu, Sucai Zhang, Yongfu Wang, Gang Li","doi":"10.1177/09544070241246830","DOIUrl":"https://doi.org/10.1177/09544070241246830","url":null,"abstract":"To solve the uncertainties in permanent magnet synchronous motor (PMSM) driven steer-by-wire (SbW) system, a prescribed-performance-control (PPC) based finite-time fuzzy controller is proposed. Specifically, the dynamics of SbW system driven by PMSM is analyzed, and combine PPC technology to transform the tracking error coordinates. Then, the velocity signal is obtained from the sigmoid function-based tracking differentiator by using the position signal. To solve the problem of mismatched disturbance, fuzzy logic system (FLS) are used as a universal approximator to estimate the lumped nonlinear friction and other unknown functions, the boundary of lumped disturbance is estimated by the designed adaptive updating law. By fusing the designed virtual controller and the intermediate control law, the controller needs no precise parameters of system, under which the effect of uncertainty of control gain can be compensated completely. Finally, rigorous theoretical analysis based on the Lyapunov stability theory is provided to demonstrate the finite-time stability of the closed-loop system under consideration. Simulation and experiment results are presented to show the effectiveness of the developed control approach, and some comparisons are given to show the rapid and accurate position tracking control performance.","PeriodicalId":509770,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141273240","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 : 2024-05-23DOI: 10.1177/09544070241249517
Reda Rizal, Ahmad Keshavarzi, Armansyah, Dani Harmanto, Amin Kolahdooz
This paper presents a comprehensive study on the modeling and optimization of an advanced suspension system, known as the Air Springs Inerter-Spring-Damper (AISD) system, incorporating an inerter element. A linear quarter car model is utilized to analyze the vibrational behavior of the AISD system when subjected to harmonic road disturbances. The steady-state response of the system is investigated by deriving the root mean square (RMS) values of the absolute relative displacement and acceleration of the sprung mass. To optimize the quarter car model, a criterion based on minimizing the absolute acceleration RMS while considering the relative displacement RMS is employed to calculate the inerter coefficient. The performance of the AISD suspension system is compared to that of both conventional quarter car systems and traditional air quarter car systems, with a focus on ride comfort and handling. The results demonstrate that the proposed AISD system outperforms the other two suspension systems, exhibiting a significant improvement in ride quality. Specifically, the AISD system achieves a 45% enhancement over the air suspension and an 82% improvement over the classic suspension system.
{"title":"Optimization and comparative analysis of an AISD suspension system with inerter element for enhanced ride and handling","authors":"Reda Rizal, Ahmad Keshavarzi, Armansyah, Dani Harmanto, Amin Kolahdooz","doi":"10.1177/09544070241249517","DOIUrl":"https://doi.org/10.1177/09544070241249517","url":null,"abstract":"This paper presents a comprehensive study on the modeling and optimization of an advanced suspension system, known as the Air Springs Inerter-Spring-Damper (AISD) system, incorporating an inerter element. A linear quarter car model is utilized to analyze the vibrational behavior of the AISD system when subjected to harmonic road disturbances. The steady-state response of the system is investigated by deriving the root mean square (RMS) values of the absolute relative displacement and acceleration of the sprung mass. To optimize the quarter car model, a criterion based on minimizing the absolute acceleration RMS while considering the relative displacement RMS is employed to calculate the inerter coefficient. The performance of the AISD suspension system is compared to that of both conventional quarter car systems and traditional air quarter car systems, with a focus on ride comfort and handling. The results demonstrate that the proposed AISD system outperforms the other two suspension systems, exhibiting a significant improvement in ride quality. Specifically, the AISD system achieves a 45% enhancement over the air suspension and an 82% improvement over the classic suspension system.","PeriodicalId":509770,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141107792","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 : 2024-05-23DOI: 10.1177/09544070241254148
C. Prakash, J. Prakash
The brake disc is a vital component in the braking system of the automobile which helps in reducing the speed or stopping the vehicle whenever required. Whereas, increasing the effectiveness of the braking system is highly challenging for the researchers to ensure safe driving by minimizing the stopping distance of the vehicle during braking. However, the performance of the braking system mainly relies on the brake disc material utilized in the braking system. In the current trend, the usage of alternate materials with a high strength-to-weight ratio is in practice to reduce the fuel consumption of the automobile. Hence, researchers concentrate on Fiber Reinforced Polymer Composites and Metal Matrix Composites to manufacture automotive components. In this research work, the performance of the existing mild steel brake rotor is correlated with brake discs fabricated using different materials such as zirconium-coated steel, AA7075+nSiCp, AA6061+nano Rice Husk Ash particles, Glass Fiber Reinforced Polymer composite, and Carbon Fiber Reinforced Polymer composites. The effectiveness of a two-wheeler braking system is reported concerning the stopping distance, disc weight, friction coefficient, and wear resistance properties of the brake disc material. Moreover, a 3D Finite Element Model (3D FEM) is also developed and the braking mechanism is simulated. The experimental and FEA results reveal that SiC reinforced AA7075 composite shows compromising properties as required such as maximum stress of 558 MPa, excellent wear resistance, good friction coefficient of 0.40, good temperature dissipation property, and effective stopping distance of 81 m.
{"title":"Investigation and selection of optimistic material for two wheeler brake disc: An experimental and finite element approach","authors":"C. Prakash, J. Prakash","doi":"10.1177/09544070241254148","DOIUrl":"https://doi.org/10.1177/09544070241254148","url":null,"abstract":"The brake disc is a vital component in the braking system of the automobile which helps in reducing the speed or stopping the vehicle whenever required. Whereas, increasing the effectiveness of the braking system is highly challenging for the researchers to ensure safe driving by minimizing the stopping distance of the vehicle during braking. However, the performance of the braking system mainly relies on the brake disc material utilized in the braking system. In the current trend, the usage of alternate materials with a high strength-to-weight ratio is in practice to reduce the fuel consumption of the automobile. Hence, researchers concentrate on Fiber Reinforced Polymer Composites and Metal Matrix Composites to manufacture automotive components. In this research work, the performance of the existing mild steel brake rotor is correlated with brake discs fabricated using different materials such as zirconium-coated steel, AA7075+nSiCp, AA6061+nano Rice Husk Ash particles, Glass Fiber Reinforced Polymer composite, and Carbon Fiber Reinforced Polymer composites. The effectiveness of a two-wheeler braking system is reported concerning the stopping distance, disc weight, friction coefficient, and wear resistance properties of the brake disc material. Moreover, a 3D Finite Element Model (3D FEM) is also developed and the braking mechanism is simulated. The experimental and FEA results reveal that SiC reinforced AA7075 composite shows compromising properties as required such as maximum stress of 558 MPa, excellent wear resistance, good friction coefficient of 0.40, good temperature dissipation property, and effective stopping distance of 81 m.","PeriodicalId":509770,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141107957","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 : 2024-05-23DOI: 10.1177/09544070241252197
Michele Asperti, Divy Dhingra, M. Vignati, E. Sabbioni
Full electric vehicles with multiple and independently controlled powertrains allow for an improvement of vehicle handling capabilities both in steady state and in transient manoeuvres. This paper focuses on active lateral dynamics control of an electric vehicle equipped with 4 in-wheel motors and active rear steering. An integral terminal sliding mode controller (ITSMC) is derived starting from the linearized single track model with the addition of the rear wheel steering angle. The controller has a multi-input multi-output structure and is designed to track vehicle yaw rate and sideslip angle reference quantities through torque vectoring and active rear steering actuation. A novel approach for calculating reference sideslip angle and yaw rate using a logistic function is also presented in this paper. The ITSMC relies on real time knowledge of sideslip angle which cannot be measured in the real vehicle, thus it is estimated through the addition of an extended Kalman filter to the control loop. The performance of the controller is tested with VI-CarRealTime 14 degrees of freedom nonlinear model both for steady state and transient manoeuvres. Simulation results show a good tracking of the reference value with no chattering issues and with an improved behaviour if compared to a sliding mode controller from literature.
{"title":"Multi input multi output lateral dynamics control of an electric vehicle","authors":"Michele Asperti, Divy Dhingra, M. Vignati, E. Sabbioni","doi":"10.1177/09544070241252197","DOIUrl":"https://doi.org/10.1177/09544070241252197","url":null,"abstract":"Full electric vehicles with multiple and independently controlled powertrains allow for an improvement of vehicle handling capabilities both in steady state and in transient manoeuvres. This paper focuses on active lateral dynamics control of an electric vehicle equipped with 4 in-wheel motors and active rear steering. An integral terminal sliding mode controller (ITSMC) is derived starting from the linearized single track model with the addition of the rear wheel steering angle. The controller has a multi-input multi-output structure and is designed to track vehicle yaw rate and sideslip angle reference quantities through torque vectoring and active rear steering actuation. A novel approach for calculating reference sideslip angle and yaw rate using a logistic function is also presented in this paper. The ITSMC relies on real time knowledge of sideslip angle which cannot be measured in the real vehicle, thus it is estimated through the addition of an extended Kalman filter to the control loop. The performance of the controller is tested with VI-CarRealTime 14 degrees of freedom nonlinear model both for steady state and transient manoeuvres. Simulation results show a good tracking of the reference value with no chattering issues and with an improved behaviour if compared to a sliding mode controller from literature.","PeriodicalId":509770,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141105272","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 : 2024-05-23DOI: 10.1177/09544070241248560
Shumin Ruan, Yue Ma, Changle Xiang
Coordination among the multiple power components is essential for the hybrid electric propulsion systems since the decision made by one impacts the state and decisions of others due to the coupling mechanical and electrical dynamics. Traditional model-based approaches with weight-sum objectives may result in misleading optimization or even unstable situations because of the inherent poor scalability and synergy. To overcome this issue, this paper proposes a novel game theory-based control strategy with model adaptation mechanism for the hybrid electric flying car to enhance the control performance, system stability, and robustness. Firstly, a control-oriented model of the system is derived with the utilization of the recursive least square parameter estimation method. The non-cooperative game framework is then established with the turboshaft engine subsystem and electric supply subsystem treated as two independent players. The performance of Nash equilibrium solutions with closed-loop and open-loop information structures are investigated where the problem is iteratively solved by exploiting Pontryagin’s Minimum Principle and dynamic programming, respectively. The simulation results demonstrate that the game theory-based controllers can outperform MPC with the weight-sum objectives in terms of control efficiency and robustness improvement and the game theory-based controller with open-loop information structure shows excellent computation efficiency. Moreover, the result of the hardware-in-the-loop experiment demonstrates the real-time performance of the proposed controller.
{"title":"Real-time coordinated control strategy for the hybrid electric propulsion system of a flying car with model adaptation and game theory","authors":"Shumin Ruan, Yue Ma, Changle Xiang","doi":"10.1177/09544070241248560","DOIUrl":"https://doi.org/10.1177/09544070241248560","url":null,"abstract":"Coordination among the multiple power components is essential for the hybrid electric propulsion systems since the decision made by one impacts the state and decisions of others due to the coupling mechanical and electrical dynamics. Traditional model-based approaches with weight-sum objectives may result in misleading optimization or even unstable situations because of the inherent poor scalability and synergy. To overcome this issue, this paper proposes a novel game theory-based control strategy with model adaptation mechanism for the hybrid electric flying car to enhance the control performance, system stability, and robustness. Firstly, a control-oriented model of the system is derived with the utilization of the recursive least square parameter estimation method. The non-cooperative game framework is then established with the turboshaft engine subsystem and electric supply subsystem treated as two independent players. The performance of Nash equilibrium solutions with closed-loop and open-loop information structures are investigated where the problem is iteratively solved by exploiting Pontryagin’s Minimum Principle and dynamic programming, respectively. The simulation results demonstrate that the game theory-based controllers can outperform MPC with the weight-sum objectives in terms of control efficiency and robustness improvement and the game theory-based controller with open-loop information structure shows excellent computation efficiency. Moreover, the result of the hardware-in-the-loop experiment demonstrates the real-time performance of the proposed controller.","PeriodicalId":509770,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141104972","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 : 2024-05-21DOI: 10.1177/09544070241249507
Shidian Ma, Xuan Zhou, Haobin Jiang, Aoxue Li, Mu Han, Tao Tao, Guolin Xu
The application of convolutional neural network (CNN) has greatly broaden the application range of intelligent fault diagnosis, which is beneficial to the stability of industrial production. However, traditional CNN based fault diagnosis methods cannot capture the global features. To address the problem, this paper proposed a method called PSO-Conformer to extract features integrating global and local information. First, convolutional layers are uesd for local feature extraction, and then using Encode module of Transformer to extract global features. The diagnostic performance of the model can be significantly improved and the model hyperparameters are optimized using the PSO algorithm. The proposed method is applied to the fault diagnosis of pneumatic brake systems of commercial vehicles and compared with several methods based on deep learning. And this paper use the t-Distributed Stochastic Neighbor Embdedding (TSNE) to visualize the output features of models in two dimensional plane and four evaluation indexes based on confusion matrix are used to evaluate the model. The results show that the diagnostic performance of the proposed method is better than the existing method.
卷积神经网络（CNN）的应用大大拓宽了智能故障诊断的应用范围，有利于工业生产的稳定性。然而，传统的基于 CNN 的故障诊断方法无法捕捉全局特征。针对这一问题，本文提出了一种名为 PSO-Conformer 的方法来提取融合全局和局部信息的特征。首先，利用卷积层提取局部特征，然后使用变形器的编码模块提取全局特征。利用 PSO 算法对模型超参数进行优化，可显著提高模型的诊断性能。本文提出的方法被应用于商用车气动制动系统的故障诊断，并与几种基于深度学习的方法进行了比较。本文还利用 t 分布随机邻域嵌入（TSNE）将模型的输出特性在二维平面上可视化，并采用基于混淆矩阵的四个评价指标对模型进行评价。结果表明，所提方法的诊断性能优于现有方法。
{"title":"A novel intelligent fault diagnosis method for commercial vehicle pneumatic braking system","authors":"Shidian Ma, Xuan Zhou, Haobin Jiang, Aoxue Li, Mu Han, Tao Tao, Guolin Xu","doi":"10.1177/09544070241249507","DOIUrl":"https://doi.org/10.1177/09544070241249507","url":null,"abstract":"The application of convolutional neural network (CNN) has greatly broaden the application range of intelligent fault diagnosis, which is beneficial to the stability of industrial production. However, traditional CNN based fault diagnosis methods cannot capture the global features. To address the problem, this paper proposed a method called PSO-Conformer to extract features integrating global and local information. First, convolutional layers are uesd for local feature extraction, and then using Encode module of Transformer to extract global features. The diagnostic performance of the model can be significantly improved and the model hyperparameters are optimized using the PSO algorithm. The proposed method is applied to the fault diagnosis of pneumatic brake systems of commercial vehicles and compared with several methods based on deep learning. And this paper use the t-Distributed Stochastic Neighbor Embdedding (TSNE) to visualize the output features of models in two dimensional plane and four evaluation indexes based on confusion matrix are used to evaluate the model. The results show that the diagnostic performance of the proposed method is better than the existing method.","PeriodicalId":509770,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141117870","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 : 2024-05-20DOI: 10.1177/09544070241246836
Mohamed Amine El Hameur, Mahfoudh Cerdoun, L. Tarabet
In the contemporary landscape, possessing an intricate understanding of the performance characteristics of turbocharger radial turbine proves invaluable during engine development phases, to improve predictive capabilities of calculation codes and enhance the critical process of matching engines with turbochargers. This research deals with offering two precise yet straightforward analytical functions intended to generate comprehensive performance maps of turbocharger turbines. This is achieved through a refined adjustment of a preexisting analytical function, after introducing an inventive multiplication factor that aligns numerical calculations with experimental data to predict the turbine’s expansion ratio. Besides, a second analytical function forecasts the turbine’s thermo-mechanical efficiency by establishing a power balance equation between the turbine and supplied compressor map. The outcome of the developed model is compared with existing method on two distinct turbochargers, encompassing various rotational speeds. Additionally, a sensitive analysis aiming to detect the most important factors affecting our developed model while exploring it possible validity range for different thermodynamic parameters. The results indicate that the two functions yield reliable estimations of turbine performance, with maximum; root mean square error, R2, and mean absolute percentage error indices find around 9.47%, 0.993, and 9.03% for the turbine expansion ratio, and about 4.42%, 0.612, and 19.78% for efficiency prediction. This novel model enhances simulation accuracy while preserving user-friendliness and robustness based on the prerequisite of limited geometric and thermodynamic parameters at the turbocharger boundaries. Finally, the main advantages of the proposed model is its adaptability for the implementation in calculation codes, turbomachinery optimization strategies and assessments of the design and performance, addressing scenarios where the original turbine maps are rarely provided by turbocharger manufacturers.
{"title":"An improved model for primary prediction of performance map for turbocharger radial turbine","authors":"Mohamed Amine El Hameur, Mahfoudh Cerdoun, L. Tarabet","doi":"10.1177/09544070241246836","DOIUrl":"https://doi.org/10.1177/09544070241246836","url":null,"abstract":"In the contemporary landscape, possessing an intricate understanding of the performance characteristics of turbocharger radial turbine proves invaluable during engine development phases, to improve predictive capabilities of calculation codes and enhance the critical process of matching engines with turbochargers. This research deals with offering two precise yet straightforward analytical functions intended to generate comprehensive performance maps of turbocharger turbines. This is achieved through a refined adjustment of a preexisting analytical function, after introducing an inventive multiplication factor that aligns numerical calculations with experimental data to predict the turbine’s expansion ratio. Besides, a second analytical function forecasts the turbine’s thermo-mechanical efficiency by establishing a power balance equation between the turbine and supplied compressor map. The outcome of the developed model is compared with existing method on two distinct turbochargers, encompassing various rotational speeds. Additionally, a sensitive analysis aiming to detect the most important factors affecting our developed model while exploring it possible validity range for different thermodynamic parameters. The results indicate that the two functions yield reliable estimations of turbine performance, with maximum; root mean square error, R2, and mean absolute percentage error indices find around 9.47%, 0.993, and 9.03% for the turbine expansion ratio, and about 4.42%, 0.612, and 19.78% for efficiency prediction. This novel model enhances simulation accuracy while preserving user-friendliness and robustness based on the prerequisite of limited geometric and thermodynamic parameters at the turbocharger boundaries. Finally, the main advantages of the proposed model is its adaptability for the implementation in calculation codes, turbomachinery optimization strategies and assessments of the design and performance, addressing scenarios where the original turbine maps are rarely provided by turbocharger manufacturers.","PeriodicalId":509770,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141123322","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 : 2024-05-16DOI: 10.1177/09544070241246600
Guang Xia, Shibiao Wu, Xiwen Tang, Yang Zhang, Linfeng Zhao
Industrial vehicles work in complex terrain, the variable centre of mass position, leakage nonlinearity of full hydraulic steering and other issues lead to poor path tracking stability and accuracy. In this paper, an intelligent hierarchical controller for industrial vehicles’ path tracking is designed with full hydraulic steering leakage compensation, including an upper decision layer and a lower execution layer. The upper decision layer observes the pavement-tyre adhesion coefficients through an extended Kalman filter algorithm, and uses the real-time observations of the adhesion coefficients to establish a variable constraint control for the linear time-varying MPC, and thus performs the path tracking control. The lower actuator layer receives the upper layer’s target steering wheel angle output and performs steering operations. Based on the establishment of a mathematical model of full hydraulic steering considering the leakage characteristics, it analyses the leakage disturbance factors and constructs a fuzzy feed-forward steering leakage compensation controller to compensate for the leakage disturbances in real time for path tracking steering. Simulation and experimental results show that the lateral acceleration, sideslip angle, tyre side slip angle and tracking error of intelligent industrial vehicles under different loads and working conditions are improved by more than 32.4%, 35.8%, 40.2% and 45.8% respectively, and the designed hierarchical controller for the path tracking of intelligent industrial vehicles, which considers the compensation of all-hydraulic steering leakage, can effectively improve the path tracking stability and tracking accuracy of intelligent industrial vehicles under different loads and working conditions.
{"title":"Research on layered control of path tracking for unmanned industrial vehicles based on fully hydraulic steering leakage compensation","authors":"Guang Xia, Shibiao Wu, Xiwen Tang, Yang Zhang, Linfeng Zhao","doi":"10.1177/09544070241246600","DOIUrl":"https://doi.org/10.1177/09544070241246600","url":null,"abstract":"Industrial vehicles work in complex terrain, the variable centre of mass position, leakage nonlinearity of full hydraulic steering and other issues lead to poor path tracking stability and accuracy. In this paper, an intelligent hierarchical controller for industrial vehicles’ path tracking is designed with full hydraulic steering leakage compensation, including an upper decision layer and a lower execution layer. The upper decision layer observes the pavement-tyre adhesion coefficients through an extended Kalman filter algorithm, and uses the real-time observations of the adhesion coefficients to establish a variable constraint control for the linear time-varying MPC, and thus performs the path tracking control. The lower actuator layer receives the upper layer’s target steering wheel angle output and performs steering operations. Based on the establishment of a mathematical model of full hydraulic steering considering the leakage characteristics, it analyses the leakage disturbance factors and constructs a fuzzy feed-forward steering leakage compensation controller to compensate for the leakage disturbances in real time for path tracking steering. Simulation and experimental results show that the lateral acceleration, sideslip angle, tyre side slip angle and tracking error of intelligent industrial vehicles under different loads and working conditions are improved by more than 32.4%, 35.8%, 40.2% and 45.8% respectively, and the designed hierarchical controller for the path tracking of intelligent industrial vehicles, which considers the compensation of all-hydraulic steering leakage, can effectively improve the path tracking stability and tracking accuracy of intelligent industrial vehicles under different loads and working conditions.","PeriodicalId":509770,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140968000","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}
The vibration and noise generated by the boneless wiper-windshield system during its actual operation bother the occupants. Exploring the dynamic characteristics of the boneless wiper-windshield system is a prerequisite for understanding vibration and noise. In this paper, the dynamic characteristics of the boneless wiper-windshield system are investigated, and a rigid-flexible coupled multi-body dynamic model matching the real boneless wiper-windshield system is constructed. The friction characteristic of the dynamic model is studied through the wiper test bench experiment. The nonlinear dynamic response of the dynamic model is calculated with the Adams and results of the frictional vibration are well reproduced in real motions. The parallel analysis of the simulation calculation results and the real vehicle test results confirms the validity of the model. The results show that the vibration generation mechanism at the moments before and after the reversal can be explained by the instability of the wiper blades due to the negative friction characteristic. There are differences in the magnitude of the reversal impact force and the moment of reversal at each position of the wiper blade. The effect of the speed-gears on the system vibration is analyzed through the simulation results. The analysis method and simulation results in this article can provide reference for the research on vibration and noise control of boneless wiper systems.
{"title":"Vibration response analysis of boneless wiper-windshield system based on multi-body dynamics model","authors":"Yansong Wang, Zhichao Huang, Hui Guo, Xiaolong Xie, Pei Sun, Chaoran Yang","doi":"10.1177/09544070241248049","DOIUrl":"https://doi.org/10.1177/09544070241248049","url":null,"abstract":"The vibration and noise generated by the boneless wiper-windshield system during its actual operation bother the occupants. Exploring the dynamic characteristics of the boneless wiper-windshield system is a prerequisite for understanding vibration and noise. In this paper, the dynamic characteristics of the boneless wiper-windshield system are investigated, and a rigid-flexible coupled multi-body dynamic model matching the real boneless wiper-windshield system is constructed. The friction characteristic of the dynamic model is studied through the wiper test bench experiment. The nonlinear dynamic response of the dynamic model is calculated with the Adams and results of the frictional vibration are well reproduced in real motions. The parallel analysis of the simulation calculation results and the real vehicle test results confirms the validity of the model. The results show that the vibration generation mechanism at the moments before and after the reversal can be explained by the instability of the wiper blades due to the negative friction characteristic. There are differences in the magnitude of the reversal impact force and the moment of reversal at each position of the wiper blade. The effect of the speed-gears on the system vibration is analyzed through the simulation results. The analysis method and simulation results in this article can provide reference for the research on vibration and noise control of boneless wiper systems.","PeriodicalId":509770,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140970359","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 : 2024-05-16DOI: 10.1177/09544070241246598
Wei Wang, Jiadong Zhong, Qingming Zhang, Tianbo Wang
Aiming at the traditional Gmapping algorithm with constant number of particles, which lead to the failure of composition in variable and complex environments, based on SLAM mapping technology, this paper proposed an Adaptive Sampling (AS) algorithm, which increased the number of sampling particles when the fluctuation of the 2D laser point cloud is larger than a certain threshold, and the experimental results shown that the algorithm was able to reasonably utilize the system resources, and effectively enhanced the algorithm’s ability to compose maps in a variable and complex environment. In addition, in order to make the system have a better effect of building maps in complex environments, this paper also integrated the firefly algorithm (AF) with it, and utilized AF’s high aggregation ability to improve the distribution of sampling particles, which then improved the estimation ability of the filter. Verified by offline real environment experiments, the results shown that the optimized algorithm significantly improves the map building ability of the system.
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