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Machine learning-based real time identification of driver posture during driving 基于机器学习的驾驶员驾驶姿态实时识别系统
IF 1.7 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2024-07-30 DOI: 10.1177/09544070241265398
Ahmet Emre Cetin, Erhan Akdogan, Suden Battal, Ceyhun Ibolar
The detection of driver distractions is exceptionally important for driving safety. Driver distraction can originate from various sources such as external tasks (e.g., texting or eating) or mental states (e.g., sleepiness, tiredness, anger, and tension). To detect these conditions, most of the previous studies were based on vision-based techniques. These techniques are affected by environmental factors (e.g., day, night, and facial accessories such as glasses and hats). However, the steering wheel is an interface that provides a direct relationship between the driver and vehicle. The driver’s interaction can effectively reflect this behavior and mental state. This study introduced a new method for detecting driver distractions by utilizing force/torque (F/T) sensor data extracted from the steering wheel. An experimental setup was designed and developed to measure the accuracy of the proposed method. To validate the strategy, a machine learning-based algorithm was developed. It demonstrated remarkable performance in determining the position of the driver’s hand on the steering wheel and in inferring with high precision the hand the driver uses to operate the vehicle. The method produced accurate results in all the grip ranges that could be held by the driver within the range of 0°–360°. The support vector machine (SVM) method was used in machine learning. It predicted with a 91.1% accuracy rate.
检测驾驶员分心对驾驶安全异常重要。驾驶员分心的原因多种多样,如外部任务(如发短信或吃东西)或精神状态(如困倦、疲惫、愤怒和紧张)。为了检测这些情况,以往的研究大多基于视觉技术。这些技术会受到环境因素(如白天、黑夜以及眼镜和帽子等面部配饰)的影响。然而,方向盘是一个在驾驶员和车辆之间提供直接关系的界面。驾驶员的互动可以有效反映这种行为和心理状态。本研究利用从方向盘提取的力/扭矩(F/T)传感器数据,引入了一种检测驾驶员分心的新方法。研究人员设计并开发了一套实验装置,用于测量拟议方法的准确性。为了验证该策略,还开发了一种基于机器学习的算法。该算法在确定驾驶员的手在方向盘上的位置以及高精度推断驾驶员用来操作车辆的手方面表现出色。在 0°-360° 范围内,该方法在驾驶员可以握住的所有握把范围内都能得出准确的结果。在机器学习中使用了支持向量机(SVM)方法。其预测准确率为 91.1%。
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引用次数: 0
Integrated stability control of active aerodynamics and active rear-wheel steering for high-speed vehicle 用于高速行驶车辆的主动空气动力学和主动后轮转向综合稳定控制系统
IF 1.7 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2024-07-26 DOI: 10.1177/09544070241264850
Zhaowen Deng, Youqun Zhao, Wei Gao, Qiang Yi, Baohua Wang
At present, the research on improving vehicle handling stability, ride comfort, and driving safety mainly focuses on chassis system control, and rarely considers vehicle active aerodynamic control based on aerodynamic characteristics. Therefore, this paper takes the high-speed vehicle with adjustable tail as the research object, and the integrated stability control of active aerodynamics and active rear-wheel steering has been proposed. First, a linear two-degree-of-freedom (2-DOF) vehicle dynamic reference model was established, and the linear quadratic regulator (LQR) active rear-wheel steering controller was designed. Second, the principle of angle of attack distribution for active aerodynamic system was developed, an active aerodynamic Sliding Mode control (SMC) system was designed, which can automatically adjust the angle of attack of the rear wing, according to the vehicle status. Finally, the integrated stability control of active aerodynamics and active rear-wheel steering was realized. In the CarSim and Matlab/Simulink environment, the response characteristics of the integrated control to vehicle handling stability and safety were analyzed. The results show that the integrated stability control can effectively enhance the handling stability, ride comfort, safety, and road tracking ability of the high-speed vehicle, thus reducing the occurrence of vehicle runaway, rollover, and other dangerous situations.
目前,提高车辆操纵稳定性、乘坐舒适性和驾驶安全性的研究主要集中在底盘系统控制方面,很少考虑基于空气动力学特性的车辆主动空气动力学控制。因此,本文以尾部可调的高速车辆为研究对象,提出了主动空气动力学和主动后轮转向的综合稳定性控制。首先,建立了线性二自由度(2-DOF)车辆动态参考模型,并设计了线性二次调节器(LQR)主动后轮转向控制器。其次,发展了主动空气动力系统攻角分配原理,设计了主动空气动力滑动模式控制(SMC)系统,可根据车辆状态自动调节尾翼攻角。最后,实现了主动空气动力学和主动后轮转向的集成稳定控制。在 CarSim 和 Matlab/Simulink 环境下,分析了集成控制对车辆操纵稳定性和安全性的响应特性。结果表明,集成稳定控制能有效提高高速行驶车辆的操纵稳定性、乘坐舒适性、安全性和道路跟踪能力,从而减少车辆失控、侧翻等危险情况的发生。
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引用次数: 0
Numerical case study of the influence of dimensional variation of a semi-elliptic spring on the passive energy dissipation 半椭圆形弹簧尺寸变化对被动能量耗散影响的数值案例研究
IF 1.7 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2024-07-26 DOI: 10.1177/09544070241262352
Dariusz Szwedowicz, Miguel Alberto Domínguez-Gurría, Demetrio Pérez-Vigueras, Víctor I Rodríguez-Reyes
In this work the parametric evaluation of the influence of the dimensional variation of the arc height of a leaf spring on the energy dissipation and deformation energy is presented. With the use of the finite element package Abaqus, the cyclic force-displacement curve of the leaf spring under a compression test was numerically obtained through a discrete model for four cases, by varying the arc height of the spring, subsequently the energy dissipation and the potential energy was calculated. The discrete model was experimentally validated by performing compression tests on a commercial spring. The obtained results show that varying the arc height influences the amount of energy dissipation and potential energy. It was observed that by decreasing the arc height by 33%, the energy dissipation increased by 50% and the potential energy by 3%, resulting in an increment in the specific damping capacity of 47% with respect to the original model. From the discrete model, it is concluded that the contact pressure, contact area, and slip zones are more uniformly distributed when the arc height is reduced by 33%, besides of a decrease in the mass of the spring, results which may be useful for car suspension designers.
本研究对板簧弧高尺寸变化对能量耗散和变形能的影响进行了参数评估。利用有限元软件包 Abaqus,通过改变弹簧弧高,在四种情况下建立离散模型,数值计算了压缩试验下板簧的循环力-位移曲线,随后计算了能量耗散和势能。通过对商用弹簧进行压缩试验,对离散模型进行了实验验证。结果表明,改变弧高会影响能量耗散和势能的大小。据观察,通过将弧高降低 33%,能量耗散增加了 50%,势能增加了 3%,与原始模型相比,比阻尼能力增加了 47%。从离散模型中得出的结论是,当弧线高度降低 33% 时,接触压力、接触面积和滑移区域的分布更加均匀,此外,弹簧的质量也有所降低,这些结果可能对汽车悬架设计人员有用。
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引用次数: 0
Cooperative control for lane departure prevention based on model predictive control and gated recurrent unit model 基于模型预测控制和门控递归单元模型的车道偏离预防协同控制
IF 1.7 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2024-07-26 DOI: 10.1177/09544070241264589
Zengke Qin, Lie Guo, Jian Wu, Pingshu Ge, Xin Liu, Liyuan Zhao
Human-machine conflict has a significant impact on driving safety, posing a vital challenge in the design of lane departure prevention (LDP) systems. To address the issue, this paper proposes a driver-intelligent vehicle cooperative steering torque assistance control strategy. The lane departure decision-making module based on the gated recurrent unit (GRU) is used to predict the lateral deviation of the vehicle and to make real-time decisions regarding the switching of the model predictive control (MPC) based assistance controller. Next, the conflict performance between the MPC lane keeping and conflict reduction (MPC-LKCR) controller’s torque and the driver’s torque is added to the optimization objective of the MPC lane keeping (MPC-LK) controller, while the lane keeping performance is continually retained. That is because a shared factor based on the fuzzy model is designed with the ability to adjust the assistance torque within the MPC-LKCR controller according to the driver’s intention. Finally, after the overall optimization of the MPC-LKCR controller, the final torque after the superposition of driver and assistance torque acts on the steering column to realize the human-machine cooperative steering control. The driving data from 52 drivers were collected to train the GRU model offline. The proposed strategy was simulated and analyzed under different driving scenarios, and hardware-in-the-loop experiments were completed on a driving simulator to validate it. Hardware-in-the-loop results show that the average conflict intensity and conflict time ratio are reduced by 23.8% and 34.4% under the MPC-LKCR controller compared to the MPC-LK controller. The strategy not only accomplishes the task of vehicle lane departure but also effectively reduces the time and intensity of human-machine conflicts.
人机冲突对驾驶安全有重大影响,给车道偏离预防(LDP)系统的设计带来了重大挑战。针对这一问题,本文提出了一种驾驶员智能车辆协同转向扭矩辅助控制策略。基于门控递归单元(GRU)的车道偏离决策模块用于预测车辆的横向偏离,并对基于模型预测控制(MPC)的辅助控制器的切换做出实时决策。接下来,MPC 车道保持和减少冲突 (MPC-LKCR) 控制器的扭矩与驾驶员扭矩之间的冲突性能被添加到 MPC 车道保持 (MPC-LK) 控制器的优化目标中,而车道保持性能则继续保留。这是因为设计了一个基于模糊模型的共享因子,能够根据驾驶员的意图调整 MPC-LKCR 控制器内的辅助扭矩。最后,经过 MPC-LKCR 控制器的整体优化,驾驶员扭矩和辅助扭矩叠加后的最终扭矩作用于转向柱,实现人机协同转向控制。收集了 52 名驾驶员的驾驶数据,对 GRU 模型进行离线训练。在不同的驾驶场景下对所提出的策略进行了模拟和分析,并在驾驶模拟器上完成了硬件在环实验以验证其有效性。硬件在环实验结果表明,MPC-LKCR 控制器与 MPC-LK 控制器相比,平均冲突强度和冲突时间比分别降低了 23.8% 和 34.4%。该策略不仅能完成车辆偏离车道的任务,还能有效减少人机冲突的时间和强度。
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引用次数: 0
Design and optimization of acoustic packages using RSM coupled with range analysis 利用 RSM 与范围分析相结合设计和优化声学组件
IF 1.7 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2024-07-26 DOI: 10.1177/09544070241262353
Zhifei Zhang, Wencheng Yang, Sishi Cao, Xuhui Luo
Acoustic packages are commonly used to reduce the mid-high frequency noise in the automobile, but fully characterizing their absorption and insulation mechanisms poses challenges. Introducing a data-driven approach to analyze their performance, existing research lacks clarity on the factors influencing acoustic package efficacy when constructing approximate models. To alleviate this, a method of optimizing the acoustic package by combining range analysis with a Response Surface Methodology (RSM) model is proposed in this paper. Initially, a validated Statistical Energy Analysis (SEA) model predicts automobile interior noise, pinpointing the dash panel as a key component for optimization through contribution analysis. Then, acoustic material tests are conducted to design the acoustic package. To compare the design scheme and the original scheme for the acoustic package in the automobile, the simulation and the test of the automobile ATF are performed and the automobile SEA model is verified through the test. Based on the range analysis, an RSM model is developed with the significant factors as input and the sound pressure level (SPL) of the driver’s head acoustic cavity as output. Genetic algorithm optimization is finally performed to obtain the optimized scheme within constrained thickness and weight. The results reveal that the acoustic package optimized scheme effectively improves the noise reduction effect in the mid-frequency range and decreases the weight of the acoustic package, which promotes the comprehensive performance of the acoustic package.
声学封装通常用于降低汽车中的中高频噪声,但要全面描述其吸收和隔绝机制却面临挑战。现有研究采用数据驱动的方法来分析其性能,但在构建近似模型时,对影响隔音包功效的因素缺乏清晰的认识。为了缓解这一问题,本文提出了一种通过将范围分析与响应面方法(RSM)模型相结合来优化隔音包的方法。首先,一个经过验证的统计能量分析(SEA)模型对汽车内部噪声进行预测,通过贡献分析将仪表板确定为优化的关键部件。然后,进行声学材料测试,设计声学套件。为了比较汽车声学套件的设计方案和原始方案,对汽车 ATF 进行了模拟和测试,并通过测试验证了汽车 SEA 模型。在范围分析的基础上,建立了以重要因素为输入、以驾驶员头部声腔的声压级(SPL)为输出的 RSM 模型。最后通过遗传算法进行优化,以获得厚度和重量受限的优化方案。结果表明,声学封装优化方案有效提高了中频范围内的降噪效果,并减轻了声学封装的重量,提升了声学封装的综合性能。
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引用次数: 0
Research on energy saving and control characteristics of back pressure controllable variable speed pump controlled steering system for heavy vehicles 重型车辆背压可控变速泵控制转向系统的节能与控制特性研究
IF 1.7 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2024-07-26 DOI: 10.1177/09544070241265161
Heng Du, Hanjin Li, Kaiyi Ding, Su Li, Jianchao Yu
Steering system of heavy vehicle facing intelligent and green development needs to satisfy the requirements of high precision and energy-efficient dynamic steering. Traditional steering systems use valved servo systems, which offer high steering accuracy but result in significant energy dissipation at the valve ports. In contrast, the variable speed pump control system (VSPCS) realizes the precise servo of steering system through direct volume control, which basically eliminates the energy dissipation at the valve port. However, the VSPCS lacks sufficient system stiffness due to low back pressure, making it difficult to achieve precise steering. To address these limitations, this paper proposes a back pressure controllable variable speed pump controlled steering system scheme (BCVSPCSS), which combines the energy-efficient flow supply of the VSPCS with a servo-proportional valve is used for back pressure control to, improving the dynamic performance of the system. This integration allows for precise steering while maintaining energy efficiency; The design of a dual objective nonlinear control strategy for angle and back pressure is crucial to deal with uncertainty and nonlinearity in the system. The Lyapunov analysis shows that the closed-loop system has asymptotic stability. In this paper, the experimental bench of BCVSPCSS is built for experimental verification. The results show that back pressure control effectively enhances the system’s immunity. Under the same working conditions, the maximum angle error of the two systems is roughly the same, both around 1°, while the energy consumption of BCVSPCSS is reduced by about 84.6% compared to the valve controlled steering system.
面向智能化和绿色化发展的重型汽车转向系统需要满足高精度和节能的动态转向要求。传统的转向系统采用阀式伺服系统,转向精度高,但阀口能量消耗大。相比之下,变速泵控制系统(VSPCS)通过直接体积控制来实现转向系统的精确伺服,从根本上消除了阀口的能量耗散。然而,由于背压较低,VSPCS 缺乏足够的系统刚度,因此难以实现精确转向。针对这些局限性,本文提出了一种背压可控变速泵控制转向系统方案(BCVSPCSS),该方案将 VSPCS 的节能流量供应与用于背压控制的伺服比例阀相结合,从而改善了系统的动态性能。这种集成可在保持能源效率的同时实现精确转向;角度和背压双目标非线性控制策略的设计对于处理系统中的不确定性和非线性至关重要。Lyapunov 分析表明,闭环系统具有渐近稳定性。本文建立了 BCVSPCSS 实验台进行实验验证。结果表明,背压控制能有效提高系统的抗干扰能力。在相同的工作条件下,两个系统的最大角度误差基本相同,都在 1° 左右,而 BCVSPCSS 的能耗比阀控转向系统降低了约 84.6%。
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引用次数: 0
Cross-coupling active current balance fast terminal sliding mode control for dual-winding steer-by-wire system 用于双绕组转向电线系统的交叉耦合有功电流平衡快速终端滑动模式控制
IF 1.7 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2024-07-26 DOI: 10.1177/09544070241265631
Weihe Liang, Shenhao Zhang, Wanzhong Zhao, Chunyan Wang, Zhongkai Luan, Min Wang
The dual-winding steer-by-wire (DW-SBW) system is a novel steer-by-wire system with dual-winding permanent magnet synchronous motors, which improves steering capability and safety. However, the current imbalance in two stator windings may lead to increased current harmonic and torque ripple, resulting in steering performance degradation and safety jeopardization. Therefore, in order to improve the current balancing capability of the DW-SBW system, this paper proposes a cross-coupling active current balance control strategy. The dynamic model and the current imbalance model of the DW-SBW system are established. The mathematical relationship between the winding parameters asymmetry and current imbalance is derived, and the impact of current imbalance on current harmonic and steering performance is revealed. A radial basis function (RBF) based active current balance fast terminal sliding mode control (FTSMC) strategy for a DW-SBW system is proposed. The fast terminal sliding mode control is applied to cross-compensate the q-axis current loop control output of the two stator windings, while the RBF neural network is used to estimate the asymmetry of the resistance and inductance parameters of the two windings. The performance of the proposed FTSMC-RBF controller is validated through computer simulations and dual-winding motor experiments. The results demonstrate that the proposed FTSMC-RBF controller is more robust and provides better current balancing performance than the FTSMC in the presence of model parameter uncertainties.
双绕组线控转向系统(DW-SBW)是一种采用双绕组永磁同步电机的新型线控转向系统,可提高转向能力和安全性。然而,两个定子绕组的电流不平衡可能导致电流谐波和转矩纹波增加,从而导致转向性能下降并危及安全。因此,为了提高 DW-SBW 系统的电流平衡能力,本文提出了一种交叉耦合主动电流平衡控制策略。本文建立了 DW-SBW 系统的动态模型和电流不平衡模型。得出了绕组参数不对称与电流不平衡之间的数学关系,并揭示了电流不平衡对电流谐波和转向性能的影响。针对 DW-SBW 系统提出了基于径向基函数(RBF)的有功电流平衡快速终端滑模控制(FTSMC)策略。快速终端滑模控制用于交叉补偿两个定子绕组的 q 轴电流环控制输出,而 RBF 神经网络则用于估计两个绕组的电阻和电感参数的不对称性。通过计算机仿真和双绕组电机实验,验证了所提出的 FTSMC-RBF 控制器的性能。结果表明,在模型参数不确定的情况下,所提出的 FTSMC-RBF 控制器比 FTSMC 更稳健,并能提供更好的电流平衡性能。
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引用次数: 0
Research on multi-objective control strategy of thermal management system of pure electric vehicle at low temperature based on Q-learning algorithm 基于 Q-learning 算法的纯电动汽车低温热管理系统多目标控制策略研究
IF 1.7 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2024-07-26 DOI: 10.1177/09544070241265984
Sen Zhan, Yu Huang, Fei Li, Yanli Yin, Chunsheng Liu
In low-temperature conditions, a reasonable control strategy for thermal management systems can effectively alleviate range anxiety in pure electric vehicles and improve their adaptability to various working conditions. To further enhance the adaptability of thermal management system control strategies in different working conditions, this paper proposes a multi-objective control strategy based on Q-learning algorithm. Firstly, a pure electric vehicle model based on power-thermal coupling is established. The accuracy of the model is validated by comparing the simulation results from combined Amesim and Matlab/Simulink simulations with experimental data. Secondly, taking into consideration the factors such as vehicle economy, powertrain performance, and cabin comfort, a novel control strategy utilizing the Q-learning algorithm for the thermal management system of pure electric vehicle is developed. Finally, the efficacy of Q-learning control strategy is analyzed by simulations conducted under NEDC and WLTC conditions, with an initial temperature of −20°C. The results showed that, compared to the rule-based control strategy in WLTC and NEDC working conditions, the comprehensive improvement effect of Q-learning control strategy is 9.35% and 10.76% respectively. Moreover, the Q-learning control strategy achieves 94.25% and 90.19% of the global optimal control effect obtained through DP. The results indicate that the proposed control strategy has good adaptability to different working conditions.
在低温条件下,合理的热管理系统控制策略可以有效缓解纯电动汽车的续航焦虑,提高其对各种工况的适应性。为进一步提高热管理系统控制策略在不同工况下的适应性,本文提出了一种基于 Q-learning 算法的多目标控制策略。首先,建立了基于功率-热耦合的纯电动汽车模型。通过比较 Amesim 和 Matlab/Simulink 仿真结果与实验数据,验证了模型的准确性。其次,考虑到车辆经济性、动力总成性能和座舱舒适性等因素,针对纯电动汽车热管理系统开发了一种利用 Q-learning 算法的新型控制策略。最后,通过在初始温度为 -20°C 的 NEDC 和 WLTC 条件下进行模拟,分析了 Q-learning 控制策略的有效性。结果表明,在 WLTC 和 NEDC 工况下,与基于规则的控制策略相比,Q-learning 控制策略的综合改进效果分别为 9.35% 和 10.76%。此外,Q-learning 控制策略分别达到了通过 DP 获得的全局最优控制效果的 94.25% 和 90.19%。结果表明,所提出的控制策略对不同工况具有良好的适应性。
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引用次数: 0
Energy recovery and ride comfort analysis of mechanical-electrical-hydraulic regenerative suspension system for tracked vehicle 履带式车辆机械-电气-液压再生悬挂系统的能量回收和乘坐舒适性分析
IF 1.7 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2024-07-26 DOI: 10.1177/09544070241265034
Weijie Zhang, Yong Guo, Guosheng Wang, Qihui Ling, Zhewu Chen
A novel mechanical-electrical-hydraulic regenerative suspension system (MEH-RSS) suitable for tracked vehicles is proposed to improve the ride comfort of tracked vehicles while efficiently recovering the suspension vibration energy and improving the suspension working reliability. The dynamical model considering the dynamic damping coefficient of the MEH-RSS is established and the ride comfort analysis of tracked vehicle is carried out to verify the vibration reduction performance of the MEH-RSS. A simulated test of the energy recovery module is designed based on the bidirectional energy management control strategy, and the results show that the MEH-RSS can achieve semi-active damping force adjustment function and efficient energy recovery. The simulation results of a single bogie wheel 2-DOF model show that the damping coefficient of the MEH-RSS can adapt to the changes in road excitation characteristics, and semi-active control function can be achieved by adjusting the external resistance. The average energy recovery power of 4442 W can be reached on E-class off-road with a driving velocity of 10 m/s. The half vehicle 8-DOF model simulation results show that under passive working conditions, the root-mean-square (RMS) value of the vertical acceleration of a tracked vehicle equipped with MEH-RSS is reduced by 5.7% relative to that of a tracked vehicle equipped with traditional passive suspension (TPS) on E-class off-road. The MEH-RSS can effectively improve the ride comfort of tracked vehicles while achieving vibration energy recovery.
本文提出了一种适用于履带式车辆的新型机电液再生悬架系统(MEH-RSS),在有效回收悬架振动能量、提高悬架工作可靠性的同时,改善了履带式车辆的乘坐舒适性。建立了考虑 MEH-RSS 动态阻尼系数的动力学模型,并对履带车辆的乘坐舒适性进行了分析,以验证 MEH-RSS 的减振性能。基于双向能量管理控制策略,设计了能量回收模块的仿真试验,结果表明 MEH-RSS 可实现半主动阻尼力调节功能和高效的能量回收。单转向架车轮 2-DOF 模型的仿真结果表明,MEH-RSS 的阻尼系数能够适应路面激励特性的变化,并可通过调节外阻力实现半主动控制功能。在行驶速度为 10 m/s 的 E 级越野路面上,平均能量回收功率可达 4442 W。半车 8-DOF 模型模拟结果表明,在被动工况下,配备 MEH-RSS 的履带式车辆在 E 级越野路面上的垂直加速度均方根值比配备传统被动悬架(TPS)的履带式车辆降低了 5.7%。MEH-RSS 可有效改善履带式车辆的乘坐舒适性,同时实现振动能量回收。
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引用次数: 0
Haptic tele-driving design of vehicle steering control system with communication delay under complicated driving and road conditions 复杂驾驶和道路条件下具有通信延迟的车辆转向控制系统的触觉远程驾驶设计
IF 1.7 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2024-07-26 DOI: 10.1177/09544070241261111
Mohammadreza Sajjadi, Mahmood Chahari, Hassan Salarieh
In this paper, stabilization of tele-driving system in presence of communication time delay is studied using a 103 DOF vehicle model generated in ADAMS/Car Software. The purpose of this study is achieving a real sense of driving for tele-driving system in virtual environment under complicated driving and road conditions. To this aim, the performance of the various control architectures, in terms of position and force tracking, are investigated. Hence, the two-channel architecture is chosen as the most appropriate scheme to implement the haptic control system for the vehicle steering mechanism. In this paper, we designed an effective haptic feedback control for vehicle steering mechanism in the tele-driving system so that a command can be exerted to steering wheel by the human operator, which passes through the communication channels and will be applied to unmanned vehicle steering system. It is verified that an appropriate coordination performance under the human input can be obtained with the proposed control framework. To overcome the possible instability problem associated with existence of time-delay in communication channels, wave variables and their corrections are effectively embedded into the control system. Finally, the proposed bilateral tele-driving control on a rough 3D road surface at complicated driving and road conditions in the presence of time-delay are examined comprehensively.
本文使用 ADAMS/Car 软件生成的 103 DOF 车辆模型,研究了存在通信时延情况下远程驾驶系统的稳定性。本研究的目的是在复杂的驾驶和道路条件下,在虚拟环境中实现远程驾驶系统的真实驾驶感。为此,研究了各种控制结构在位置和力跟踪方面的性能。因此,我们选择了双通道架构作为实现车辆转向机制触觉控制系统的最合适方案。在本文中,我们为远程驾驶系统中的车辆转向机构设计了一种有效的触觉反馈控制,使人类操作员可以向方向盘发出指令,该指令通过通信信道并应用于无人驾驶车辆转向系统。经过验证,所提出的控制框架可以在人类输入下获得适当的协调性能。为了克服通信信道中存在的时延可能带来的不稳定性问题,波变量及其修正被有效地嵌入到控制系统中。最后,在存在时延的复杂驾驶和道路条件下,对所提出的粗糙三维路面双边远程驾驶控制进行了全面研究。
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引用次数: 0
期刊
Proceedings of the Institution of Mechanical Engineers Part D-Journal of Automobile Engineering
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