Pub Date : 2024-01-21DOI: 10.1177/09544070231221600
S. Kopylov, M. Ambrož, Ž. Petan, R. Kunc, Sifa Zheng, Zhichao Hou
Implementation of in-wheel motors brings numerous advantages: decreased overall vehicle weight and manufacture cost, available accurate torque control for better road handling and powertrain high energy efficiency. Even so, when the motor is placed inside the wheel, the unsprung mass of the vehicle increases, leading to a less comfortable ride. This paper puts forward and studies a control system that takes advantage of the vertical component of the driving force provided by an in-wheel motor to enhance ride comfort and handling dynamics. The proportional integral (PI) controller was proposed to minimize the pitch acceleration response of the vehicle. Controller’s gains were optimized using the gradient descent method with sequential quadratic programing algorithm. A co-simulation approach and a dynamic model of the vehicle were presented. Data regarding the vehicle’s measurements was taken from a real car with in-wheel motors. The dynamic model of the car was validated based on the results derived during the road test experiment. Assessing the controller’s effectiveness, a co-simulation approach between the dynamic model and the control system was established. An acceleration test in a straight line showed a 25% increase in ride comfort as measured by the RMS pitch angular vibrations of the sprung mass. The control is attained with no increase in the tire load and the vehicle’s longitudinal dynamics.
{"title":"Vehicle pitch dynamics control using in-wheel motors","authors":"S. Kopylov, M. Ambrož, Ž. Petan, R. Kunc, Sifa Zheng, Zhichao Hou","doi":"10.1177/09544070231221600","DOIUrl":"https://doi.org/10.1177/09544070231221600","url":null,"abstract":"Implementation of in-wheel motors brings numerous advantages: decreased overall vehicle weight and manufacture cost, available accurate torque control for better road handling and powertrain high energy efficiency. Even so, when the motor is placed inside the wheel, the unsprung mass of the vehicle increases, leading to a less comfortable ride. This paper puts forward and studies a control system that takes advantage of the vertical component of the driving force provided by an in-wheel motor to enhance ride comfort and handling dynamics. The proportional integral (PI) controller was proposed to minimize the pitch acceleration response of the vehicle. Controller’s gains were optimized using the gradient descent method with sequential quadratic programing algorithm. A co-simulation approach and a dynamic model of the vehicle were presented. Data regarding the vehicle’s measurements was taken from a real car with in-wheel motors. The dynamic model of the car was validated based on the results derived during the road test experiment. Assessing the controller’s effectiveness, a co-simulation approach between the dynamic model and the control system was established. An acceleration test in a straight line showed a 25% increase in ride comfort as measured by the RMS pitch angular vibrations of the sprung mass. The control is attained with no increase in the tire load and the vehicle’s longitudinal dynamics.","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":"2024-01-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139609999","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 : 2024-01-21DOI: 10.1177/09544070231217558
Arash Darvish Damavandi, B. Mashadi, M. Masih-Tehrani
Reduction in vertical acceleration is crucial for car manufacturers. This parameter evaluates the comfort index. Moreover, the handling index is another feature that must be under investigation. The suspension system has an essential impact on these two indices. A hybrid intelligent switching hydraulically interconnected suspension (HISHIS) is proposed. The parallel configuration is combined with the diagonal configuration in the suspension system. A mode selection strategy is discussed to select the layout between diagonal and parallel configurations. The only mode of parallel configuration is called Anti-pitch configuration. The diagonal configuration has three modes, including Anti-roll, Anti-oversteering, and Anti-vibration configuration. According to the mode selection strategy, one of these three diagonal configuration modes might be selected. The origin of roll and pitch generation is inertia force and road inputs. Hopfield neural network can recognize the origin of roll and pitch generation. Therefore, the performance of valves will change according to Hopfield neural network recognition. The results of different maneuvers show the improvement at each targeted parameter in various tasks independently. The data logger gathered the acceleration of the vehicle in real-world conditions. However, the margins of the selection strategy block are multi-objective optimized with a genetic algorithm to reach better responses in real-world conditions. The roll angle, yaw rate, allowable exposure time, and pitch angle are improved by 63%, 5%, 40%, and 99% on average. Also, optimizing the selection strategy improves the allowable exposure time by 9%. Obviously, by combining two layouts, it is possible to have a flexible situation to improve ride comfort and handling situations. In addition, there is a conditional strategy to select different layouts and modes to reach a better response.
{"title":"Development of a hybrid intelligent switching hydraulically interconnected suspension system under a multi-objective optimized mode selection strategy with real-world condition","authors":"Arash Darvish Damavandi, B. Mashadi, M. Masih-Tehrani","doi":"10.1177/09544070231217558","DOIUrl":"https://doi.org/10.1177/09544070231217558","url":null,"abstract":"Reduction in vertical acceleration is crucial for car manufacturers. This parameter evaluates the comfort index. Moreover, the handling index is another feature that must be under investigation. The suspension system has an essential impact on these two indices. A hybrid intelligent switching hydraulically interconnected suspension (HISHIS) is proposed. The parallel configuration is combined with the diagonal configuration in the suspension system. A mode selection strategy is discussed to select the layout between diagonal and parallel configurations. The only mode of parallel configuration is called Anti-pitch configuration. The diagonal configuration has three modes, including Anti-roll, Anti-oversteering, and Anti-vibration configuration. According to the mode selection strategy, one of these three diagonal configuration modes might be selected. The origin of roll and pitch generation is inertia force and road inputs. Hopfield neural network can recognize the origin of roll and pitch generation. Therefore, the performance of valves will change according to Hopfield neural network recognition. The results of different maneuvers show the improvement at each targeted parameter in various tasks independently. The data logger gathered the acceleration of the vehicle in real-world conditions. However, the margins of the selection strategy block are multi-objective optimized with a genetic algorithm to reach better responses in real-world conditions. The roll angle, yaw rate, allowable exposure time, and pitch angle are improved by 63%, 5%, 40%, and 99% on average. Also, optimizing the selection strategy improves the allowable exposure time by 9%. Obviously, by combining two layouts, it is possible to have a flexible situation to improve ride comfort and handling situations. In addition, there is a conditional strategy to select different layouts and modes to reach a better response.","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":"2024-01-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139609934","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 : 2024-01-21DOI: 10.1177/09544070231221870
İbrahim Can Güleryüz, Özgün Başer, Özgün Cem Yılmaz
This paper proposes a validated procedure that can be used for development stage of model-based controller for heavy-duty electromechanical disc brakes. Firstly, system dynamics model of a single piston electromechanical disc brake is constructed in Matlab/Simulink environment in consideration of nonlinear friction model. To ensure the accuracy of system dynamics model, open loop measurements (clamping force, motor angle and motor current) are conducted on a prototype of single piston electromechanical disc brake. Experimental data is used for the determination of system variables. The predicted outputs are verified by comparison of experimental measurement results. For the control purpose of electromechanical brake, a multi-stage closed loop architecture is introduced. To regulate clamping force, PID and sliding mode controllers are developed in Matlab/Simulink in consideration of braking performance requirements for heavy-duty vehicles. For management of running clearance between brake disc and pad, PID position controller is developed in simulation environment. Those controller parameters obtained in the simulation process are introduced to the control hardware. After that closed loop clamping force and position measurements are conducted. When the rise time values of both clamping force controllers are compared, it is seen that sliding mode controller can reach to the settling point faster than PID controller. As for the position controller, the rise time requirement has been achieved by the designed PID controller. The switching process of force and position controllers are implemented and functional closed loop measurements are conducted for different reference input signals. It is seen from the results that the rise time requirement for position controller has been achieved. The system response of clamping force parameter is considerably stable.
{"title":"Modelling and control of electromechanical disc brake for heavy-duty vehicles","authors":"İbrahim Can Güleryüz, Özgün Başer, Özgün Cem Yılmaz","doi":"10.1177/09544070231221870","DOIUrl":"https://doi.org/10.1177/09544070231221870","url":null,"abstract":"This paper proposes a validated procedure that can be used for development stage of model-based controller for heavy-duty electromechanical disc brakes. Firstly, system dynamics model of a single piston electromechanical disc brake is constructed in Matlab/Simulink environment in consideration of nonlinear friction model. To ensure the accuracy of system dynamics model, open loop measurements (clamping force, motor angle and motor current) are conducted on a prototype of single piston electromechanical disc brake. Experimental data is used for the determination of system variables. The predicted outputs are verified by comparison of experimental measurement results. For the control purpose of electromechanical brake, a multi-stage closed loop architecture is introduced. To regulate clamping force, PID and sliding mode controllers are developed in Matlab/Simulink in consideration of braking performance requirements for heavy-duty vehicles. For management of running clearance between brake disc and pad, PID position controller is developed in simulation environment. Those controller parameters obtained in the simulation process are introduced to the control hardware. After that closed loop clamping force and position measurements are conducted. When the rise time values of both clamping force controllers are compared, it is seen that sliding mode controller can reach to the settling point faster than PID controller. As for the position controller, the rise time requirement has been achieved by the designed PID controller. The switching process of force and position controllers are implemented and functional closed loop measurements are conducted for different reference input signals. It is seen from the results that the rise time requirement for position controller has been achieved. The system response of clamping force parameter is considerably stable.","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":"2024-01-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139609620","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 : 2024-01-21DOI: 10.1177/09544070231223676
Jian Zhang, Ning Chen, Yandong Chen, Pengyu Wang, Yong Zhang
In order to ensure that the autonomous vehicle can predict and taking actions to avoid the collision in time when facing the obstacles with intersection collision risk, an intersection collision risk prediction system is proposed in this paper, and two kinds of active obstacle avoidance strategies are designed according to the system: braking strategy and steering strategy. The position information of the obstacle is predicted by Fractional extended Kalman filter, the collision risk rate is determined by the time difference between the vehicle and the obstacle through the intersection point, and a neural network is trained to quickly give the collision risk of the vehicle and the obstacle. Braking strategy and steering strategy are formulated according to collision risk, the braking deceleration and Sigmoid path parameters are given. Finally, the simulation results of PreScan and MATLAB show that the collision risk prediction system can accurately predict the collision between vehicles and obstacles, the braking and steering strategies can effectively avoid the collision.
{"title":"Intersection collision risk evaluation and active collision avoidance strategies for autonomous vehicles","authors":"Jian Zhang, Ning Chen, Yandong Chen, Pengyu Wang, Yong Zhang","doi":"10.1177/09544070231223676","DOIUrl":"https://doi.org/10.1177/09544070231223676","url":null,"abstract":"In order to ensure that the autonomous vehicle can predict and taking actions to avoid the collision in time when facing the obstacles with intersection collision risk, an intersection collision risk prediction system is proposed in this paper, and two kinds of active obstacle avoidance strategies are designed according to the system: braking strategy and steering strategy. The position information of the obstacle is predicted by Fractional extended Kalman filter, the collision risk rate is determined by the time difference between the vehicle and the obstacle through the intersection point, and a neural network is trained to quickly give the collision risk of the vehicle and the obstacle. Braking strategy and steering strategy are formulated according to collision risk, the braking deceleration and Sigmoid path parameters are given. Finally, the simulation results of PreScan and MATLAB show that the collision risk prediction system can accurately predict the collision between vehicles and obstacles, the braking and steering strategies can effectively avoid the collision.","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":"2024-01-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139609727","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 : 2024-01-18DOI: 10.1177/09544070231224844
Gui-Bin Sun, Song Chen, Shen Zhou, Yun-Ying Zhu
As pure electric vehicles shift toward intelligent technology, the energy demand for onboard equipment is on the rise. In this study, a parallel control strategy for two 3-kW DC–DC power converters was proposed to meet the power requirements of pure electric vehicle loads in this paper. First, the operation mode of the resonant power converter was analyzed. The operation mode of the power converter adopted the advantageous frequency conversion–phase shift control mode. Second, a parallel control method for Takagi–Sugeno-type fuzzy neural network converters with four inputs and a single output first-order was designed to meet the power demand based on the advantages of fuzzy control and neural networks. The neural networks can be trained automatically based on the established requirements, and the fuzzy rules formulated through fuzzy neural networks were more detailed and accurate. Finally, the proposed control strategy was validated by experiments. The experimental results showed that the proposed control strategy can ensure the stable operation of the power converter during switching under the set load. The output power of the primary and sub converters varies linearly, which can meet the load’s demand for high power. There is no need to develop higher-power power converters. These results can provide a new idea for the research of high-power power converters and reduce development costs.
{"title":"Research on parallel control strategy of power converters based on fuzzy neural network","authors":"Gui-Bin Sun, Song Chen, Shen Zhou, Yun-Ying Zhu","doi":"10.1177/09544070231224844","DOIUrl":"https://doi.org/10.1177/09544070231224844","url":null,"abstract":"As pure electric vehicles shift toward intelligent technology, the energy demand for onboard equipment is on the rise. In this study, a parallel control strategy for two 3-kW DC–DC power converters was proposed to meet the power requirements of pure electric vehicle loads in this paper. First, the operation mode of the resonant power converter was analyzed. The operation mode of the power converter adopted the advantageous frequency conversion–phase shift control mode. Second, a parallel control method for Takagi–Sugeno-type fuzzy neural network converters with four inputs and a single output first-order was designed to meet the power demand based on the advantages of fuzzy control and neural networks. The neural networks can be trained automatically based on the established requirements, and the fuzzy rules formulated through fuzzy neural networks were more detailed and accurate. Finally, the proposed control strategy was validated by experiments. The experimental results showed that the proposed control strategy can ensure the stable operation of the power converter during switching under the set load. The output power of the primary and sub converters varies linearly, which can meet the load’s demand for high power. There is no need to develop higher-power power converters. These results can provide a new idea for the research of high-power power converters and reduce development costs.","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":"2024-01-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139615163","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 : 2024-01-17DOI: 10.1177/09544070231221173
Kai Chen, Hongxun Fu, Zhen Xiao, Bowen Yang, Shanqian Ni, Ruijian Huo
To fundamentally improve the lifespan of unmanned ground vehicles and their internal parts, it is urgent to address the problem of tire jumping during driving, steering, or turning. This article proposes the use of flexible spoke non-pneumatic tires instead of pneumatic tires. Therefore, a three-dimensional finite element model of a certain type of pneumatic tire and flexible spoke non-pneumatic tire was constructed and the validity of the model was verified. A simulation scheme was designed to investigate the tire cushioning and lateral performance. In order to explore the degree of influence of the structural parameters of the flexible spoke non-pneumatic tire on its cushioning and lateral performance, an orthogonal experimental simulation scheme based on L9 (33) was developed. The results show that the non-pneumatic tire requires 0.006 s to recover stability after experiencing significant vibration due to passing over a bump, while the pneumatic tire requires 0.028 s. Under rated working conditions, the non-pneumatic tire is subjected to a lateral force of 285.29 N, which is 1.9 times that of the pneumatic tire’s 142.59 N. The cushioning and lateral performance of the non-pneumatic tire is most affected by the element angle α, with an impact level of over 90%. The flexible spoke non-pneumatic tire proposed in this article can effectively solve the tire jumping problem of unmanned ground vehicles during driving, while providing design ideas for improving the cushioning and lateral performance of non-pneumatic tires.
{"title":"Key dynamic performance analysis of flexible spoke non-pneumatic tire for matched unmanned ground vehicles","authors":"Kai Chen, Hongxun Fu, Zhen Xiao, Bowen Yang, Shanqian Ni, Ruijian Huo","doi":"10.1177/09544070231221173","DOIUrl":"https://doi.org/10.1177/09544070231221173","url":null,"abstract":"To fundamentally improve the lifespan of unmanned ground vehicles and their internal parts, it is urgent to address the problem of tire jumping during driving, steering, or turning. This article proposes the use of flexible spoke non-pneumatic tires instead of pneumatic tires. Therefore, a three-dimensional finite element model of a certain type of pneumatic tire and flexible spoke non-pneumatic tire was constructed and the validity of the model was verified. A simulation scheme was designed to investigate the tire cushioning and lateral performance. In order to explore the degree of influence of the structural parameters of the flexible spoke non-pneumatic tire on its cushioning and lateral performance, an orthogonal experimental simulation scheme based on L9 (33) was developed. The results show that the non-pneumatic tire requires 0.006 s to recover stability after experiencing significant vibration due to passing over a bump, while the pneumatic tire requires 0.028 s. Under rated working conditions, the non-pneumatic tire is subjected to a lateral force of 285.29 N, which is 1.9 times that of the pneumatic tire’s 142.59 N. The cushioning and lateral performance of the non-pneumatic tire is most affected by the element angle α, with an impact level of over 90%. The flexible spoke non-pneumatic tire proposed in this article can effectively solve the tire jumping problem of unmanned ground vehicles during driving, while providing design ideas for improving the cushioning and lateral performance of non-pneumatic tires.","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":"2024-01-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139616796","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}
Wheel-legged vehicles (WLVs) combine the speed of wheels with the active control of legs to traverse challenging terrain, which presents a new development possibility for enhancing the system’s mobility and stability. Most of the existing studies mainly focus on the stability of low-speed trajectory optimization or obstacle-surmounting by hybrid walking-driving. Without considering the stability of high-speed driving. To enhance the vehicle stability at high-speed steering, with the additional roll moment generated by the active roll motion taken into account, a 15-degree-of-freedom nonlinear yaw-roll coupled vehicle model is developed. Specifically, a fusion dynamic stability factor for skid steering is presented as the rollover threshold to determine the three-dimensional stability region of longitudinal speed, yaw rate and roll angle, based on which the vehicle’s ideal roll angle is obtained. Subsequently, a hierarchical parallel control scheme is proposed to decouple the yaw and roll motions of the wheel-legged vehicle. The fusion dynamic stability factor is regarded as the switching threshold of the upper-level controller, while the lower-level controller adopts the linear quadratic regulator and the sliding mode control to actively control additional roll moment and direct yaw moment, respectively. Furthermore, the studies for the dynamic model and the proposed controller are conducted through vehicle tests. Corresponding test results validate the advantages of the proposed control scheme over conventional schemes without active roll control, in which vehicle stability is effectively improved, thereby preventing vehicle rollover in the case of high-speed steering.
{"title":"Enhancing high-speed steering stability of wheel-legged vehicles by active roll control","authors":"Hui Liu, Xiaolei Ren, Lijin Han, Yechen Qin, Jingshuo Xie, Baoshuai Liu","doi":"10.1177/09544070231211369","DOIUrl":"https://doi.org/10.1177/09544070231211369","url":null,"abstract":"Wheel-legged vehicles (WLVs) combine the speed of wheels with the active control of legs to traverse challenging terrain, which presents a new development possibility for enhancing the system’s mobility and stability. Most of the existing studies mainly focus on the stability of low-speed trajectory optimization or obstacle-surmounting by hybrid walking-driving. Without considering the stability of high-speed driving. To enhance the vehicle stability at high-speed steering, with the additional roll moment generated by the active roll motion taken into account, a 15-degree-of-freedom nonlinear yaw-roll coupled vehicle model is developed. Specifically, a fusion dynamic stability factor for skid steering is presented as the rollover threshold to determine the three-dimensional stability region of longitudinal speed, yaw rate and roll angle, based on which the vehicle’s ideal roll angle is obtained. Subsequently, a hierarchical parallel control scheme is proposed to decouple the yaw and roll motions of the wheel-legged vehicle. The fusion dynamic stability factor is regarded as the switching threshold of the upper-level controller, while the lower-level controller adopts the linear quadratic regulator and the sliding mode control to actively control additional roll moment and direct yaw moment, respectively. Furthermore, the studies for the dynamic model and the proposed controller are conducted through vehicle tests. Corresponding test results validate the advantages of the proposed control scheme over conventional schemes without active roll control, in which vehicle stability is effectively improved, thereby preventing vehicle rollover in the case of high-speed steering.","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":"2024-01-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139527478","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 : 2024-01-16DOI: 10.1177/09544070231213687
Yi Yu, Zhongxing Li, Yin Zhou, Xue Wang
The hub-motor electric vehicle (HM-EV) is considered as an ideal configuration for electric vehicles (EVs). However, the electromechanical coupling effect deteriorates HM-EV ride comfort, which limits its widespread application in EVs. In this study, the HM-EV dynamic system with air springs is proposed to intervene in vehicle attitude and ride comfort. The HM-EV dynamic model with air spring, considering the electromechanical coupling effect, is established and the test validation is investigated. Then quasi-infinite horizon nonlinear model predictive control (QIH NMPC) is designed to improve the longitudinal and vertical dynamic performance. The dynamic performance of passive suspension, air suspension based on QIH NMPC, air suspension based on MPC, and PID control receptively, are compared under several random road scenarios. Finally, the results indicated that the proposed control algorithm can improve ride comfort, reduce motor vibration, and improve longitudinal and vertical dynamic performance.
{"title":"A nonlinear model predictive control for air suspension in hub motor electric vehicle","authors":"Yi Yu, Zhongxing Li, Yin Zhou, Xue Wang","doi":"10.1177/09544070231213687","DOIUrl":"https://doi.org/10.1177/09544070231213687","url":null,"abstract":"The hub-motor electric vehicle (HM-EV) is considered as an ideal configuration for electric vehicles (EVs). However, the electromechanical coupling effect deteriorates HM-EV ride comfort, which limits its widespread application in EVs. In this study, the HM-EV dynamic system with air springs is proposed to intervene in vehicle attitude and ride comfort. The HM-EV dynamic model with air spring, considering the electromechanical coupling effect, is established and the test validation is investigated. Then quasi-infinite horizon nonlinear model predictive control (QIH NMPC) is designed to improve the longitudinal and vertical dynamic performance. The dynamic performance of passive suspension, air suspension based on QIH NMPC, air suspension based on MPC, and PID control receptively, are compared under several random road scenarios. Finally, the results indicated that the proposed control algorithm can improve ride comfort, reduce motor vibration, and improve longitudinal and vertical dynamic 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":"2024-01-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139619537","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 : 2024-01-16DOI: 10.1177/09544070231210565
Yuang Huang, You-qun Zhao, Junzhu Wang, Fen Lin
In order to improve the handling stability of electric vehicles, a new active front-wheel steering (AFS) control method was proposed. Firstly, parametric uncertainty and external interference in vehicle dynamics are summarized as a nonlinear interference term in vehicle model. An extended state observer (ESO) is designed to observe and compensate the nonlinear interference terms in real time, so as to improve the accuracy and control effect of the model. Secondly, in order to further increase the convergence speed and effectively suppress the chattering phenomenon in sliding mode control without affecting its robustness and reaching speed, an integral exponential fast terminal sliding mode controller (IEFTSMC) based on fast exponential reaching law (FERL) is designed. The problem that the control effect of some regions becomes worse when a single control algorithm is used for global region control in traditional AFS control is addressed. By combining extension theory with sliding mode control method, an improved sliding mode extension control is designed to improve the effect of AFS global control. Finally, comparative simulation tests are carried out on the CarSim/Simulink co-simulation platform. The results show that compared with the traditional FTSMC, the improved sliding mode extension control method based on ESO can not only suppress chattering more effectively, but also smoother the response curve. It also has good control effect when there is external disturbance. The effectiveness and robustness of the control strategy are verified.
{"title":"Improved sliding mode extension control of vehicle active front wheel steering based on extended state observer","authors":"Yuang Huang, You-qun Zhao, Junzhu Wang, Fen Lin","doi":"10.1177/09544070231210565","DOIUrl":"https://doi.org/10.1177/09544070231210565","url":null,"abstract":"In order to improve the handling stability of electric vehicles, a new active front-wheel steering (AFS) control method was proposed. Firstly, parametric uncertainty and external interference in vehicle dynamics are summarized as a nonlinear interference term in vehicle model. An extended state observer (ESO) is designed to observe and compensate the nonlinear interference terms in real time, so as to improve the accuracy and control effect of the model. Secondly, in order to further increase the convergence speed and effectively suppress the chattering phenomenon in sliding mode control without affecting its robustness and reaching speed, an integral exponential fast terminal sliding mode controller (IEFTSMC) based on fast exponential reaching law (FERL) is designed. The problem that the control effect of some regions becomes worse when a single control algorithm is used for global region control in traditional AFS control is addressed. By combining extension theory with sliding mode control method, an improved sliding mode extension control is designed to improve the effect of AFS global control. Finally, comparative simulation tests are carried out on the CarSim/Simulink co-simulation platform. The results show that compared with the traditional FTSMC, the improved sliding mode extension control method based on ESO can not only suppress chattering more effectively, but also smoother the response curve. It also has good control effect when there is external disturbance. The effectiveness and robustness of the control strategy are verified.","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":"2024-01-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139528261","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 : 2024-01-16DOI: 10.1177/09544070231213779
Heng Wei, Yinggang Xu, Xiang-yu Wang, Liang Li
Based on the dynamic coupling analysis of the front wheel shimmy and vehicle plane motion, a three degrees of freedom (DOF) nonlinear shimmy model considering driver steering input is established. Firstly, when the driver steering input is not considered, the modal properties and dynamic stability of the system are investigated by solving the Jacobian matrix. Then, the nonlinear shimmy behavior considering the driver steering input is discussed by means of numerical calculations. The slow flow equations of the vehicle system considering the driver steering input are derived based on the complexification-averaging (CA) method. According to the nonlinear dynamics theory, the saddle node (SN) and Hopf bifurcation characteristics of the system are analyzed, the analytical solution of the front wheel shimmy angle is also obtained. Finally, with the help of the understeer gradient, the influence of the linear cornering stiffness of the front wheel on the nonlinear shimmy motion is discussed. It is summarized that the SN and Hopf bifurcation are more likely to occur in the shimmy system for an oversteered vehicle. The relevant conclusions are useful for the early anti-shimmy design of vehicles.
基于前轮抖动和车辆平面运动的动态耦合分析，建立了考虑驾驶员转向输入的三自由度（DOF）非线性抖动模型。首先，在不考虑驾驶员转向输入的情况下，通过求解雅各布矩阵来研究系统的模态特性和动态稳定性。然后，通过数值计算讨论了考虑驾驶员转向输入的非线性抖动行为。基于复杂化平均（CA）方法，推导出了考虑驾驶员转向输入的车辆系统慢流方程。根据非线性动力学理论，分析了系统的鞍状节点（SN）和霍普夫分岔特性，并得到了前轮抖动角的解析解。最后，借助转向不足梯度，讨论了前轮线性转弯刚度对非线性抖动运动的影响。总结发现，转向过度车辆的抖动系统更容易出现 SN 和霍普夫分岔。相关结论对车辆的早期防甩尾设计很有帮助。
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