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1.
B. J. Moon H. G. Jung S. G. Lee D. H. Kim 《International Journal of Automotive Technology》2014,15(3):483-494
This paper describes a parallel model-based fault detection algorithm for an electronic parking brake (EPB) system, which consists of an electronic control unit with built-in current sensor and braking force sensor. For the EPB system to supply sufficient parking force to a vehicle, the parking force sensor is of utmost importance. If a fault occurs in this sensor, sufficient parking force may not be supplied, thereby seriously threatening the safety of the vehicle. Thus, a fault detection method is required for the parking force sensor of the EPB system to improve the safety of vehicles. For this purpose, a highly reliable fault detection method is needed to detect abnormal fault signals, which cannot be detected by the existing on-line sensor monitoring fault detection methods. This paper proposes a novel parallel model-based fault detection algorithm for the EPB system, which compares the physical sensor data with the mathematical model, the fuzzy model, and the neural network model at the same time. In order to reduce false alarms, the magnitude of thresholds and the operation counts are changed adaptively. When the proposed parallel model-based fault detection algorithm detects severe failures of the force sensor, it warns the driver in advance to prevent accidents due to the failures. The proposed algorithm is verified by hardware-in-theloop simulations in various situations. 相似文献
2.
为实现商用车线控转向,设计一套新的线控转向系统架构及其转角跟踪控制算法。新的线控转向系统采用丝杠螺母结构中的丝杠直接控制纵拉杆,螺母通过带轮机构被电机驱动。对线控转向系统结构进行运动学分析,推导转向系统可变传动比,采用前轮转角为状态变量,建立线控转向系统二阶动力学模型。基于转角跟踪目标,采用反步控制算法,设计线控转向系统转角跟踪控制器,通过反馈系统线性化处理系统参数不确定和环境干扰问题,实现准确的目标转角跟踪,并建立李雅普诺夫函数,证明了采用反步控制的线控转向系统是渐进稳定的。搭建采用“丝杠螺母+带轮机构”架构的线控转向实车底盘测试台架,选取蛇形和混合工况进行控制算法验证。研究结果表明:与滑模控制算法的测试结果对比可知,反步控制算法绝对平均跟踪误差值降低了71.88%~79.57%,跟踪误差标准偏差值降低了71.32%~78.50%;线控转向系统反步控制转角跟踪算法能够减少系统收敛到原点的时间,抑制系统的抖振,提高车辆线控转向系统转角跟踪的操纵灵活性。 相似文献
3.
Inseok Park Seungwoo Hong Myoungho Sunwoo 《International Journal of Automotive Technology》2017,18(4):579-587
This paper presents a model-based gain scheduling algorithm of a PI-based EGR controller for light-duty diesel engines. In order to capture nonlinear characteristic of the EGR system, we have proposed a new scheduling variable to illustrate the static-gain of the plant model as a linear function. The proposed scheduling variable is composed of the air-tofuel ratio of the exhaust gas and the pressure ratio between the exhaust and intake manifolds. Using the scheduling variable, a static-gain model achieved 0.94 of the R-squared value with 810 of steady-state measurements which include key engine operating conditions. Based on the model of the static-gain parameter, the gains of the PI controller are decided by Skogestad internal model control (SIMC) tuning rule in real-time. Through various scenarios of engine experiments, the proposed gain scheduling algorithm represented that the PI gains were successfully adapted according to the changes of the engine operating conditions. 相似文献
4.
Heeyun Lee Juyean Sung Hyeokjun Lee Chunhua Zheng Wonsik Lim Suk Won Cha 《International Journal of Automotive Technology》2018,19(4):687-694
In this study, a model-based integrated control method for engines and continuous variable transmissions (CVTs) is developed. CVT refers to a type of transmission which allows an engine to be operated independently with respect to the vehicle speed, with the engine torque and CVT gear ratio controlled in an integrated manner. In the proposed integrated control scheme, engine operating points which minimize the rate of instantaneous fuel consumption are calculated, and the engine target torque and target gear ratio are determined in an integrated manner based on the results of the calculations. Unlike the previous map-based control method, the method introduced in this study does not require an engine torque map or a CVT ratio map for tuning, and the engine torque and CVT ratio are controlled to minimize the amount of fuel used while satisfying the level of acceleration demand from the driver. The control scheme is based on the powertrain model, and the CVT response lag and transmission loss are also considered in the integrated control processes. The algorithm is simulated with various driving cycles, with the simulation results showing that the fuel economy performance of the vehicle system is improved with the newly suggested engine-CVT integrated control algorithm. 相似文献
5.
《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(11):1643-1665
ABSTRACTMost modern day automotive chassis control systems employ a feedback control structure. Therefore, real-time estimates of the vehicle dynamic states and tire-road contact parameters are invaluable for enhancing the performance of vehicle control systems, such as anti-lock brake system (ABS) and electronic stability program (ESP). Today's production vehicles are equipped with onboard sensors (e.g. a 3-axis accelerometer, 3-axis gyroscope, steering wheel angle sensor, and wheel speed sensors), which when used in conjunction with certain model-based or kinematics-based observers can be used to identify relevant tire and vehicle states for optimal control of comfort, stability and handling. Vehicle state estimation is becoming ever more relevant with the increased sophistication of chassis control systems. This paper presents a comprehensive overview of the state-of-the-art in the field of vehicle and tire state estimation. It is expected to serve as a resource for researchers interested in developing vehicle state estimation algorithms for usage in advanced vehicle control and safety systems. 相似文献
6.
Jangyeol Yoon Dongshin Kim Kyongsu Yi 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2007,45(5):459-475
This paper presents a rollover index (RI)-based vehicle stability control (VSC) scheme. A rollover index, which indicates an impending rollover, is developed by a roll dynamics phase plane analysis. A model-based roll estimator is designed to estimate the roll angle and roll rate of the vehicle body with lateral acceleration, yaw rate, steering angle and vehicle velocity measurements. The rollover index is computed using an estimated roll angle, estimated roll rate, measured lateral acceleration and time-to-wheel lift. A differential braking control law is designed using a direct yaw control method. The VSC threshold is determined from the rollover index. The effectiveness of the RI, the performance of the estimator and the control scheme are investigated via simulations using a validated vehicle simulator. It is shown that the proposed RI can be a good measure of the danger of rollover and the proposed RI-based VSC scheme can reduce the risk of a rollover. 相似文献
7.
《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(6):871-887
This paper presents a novel modified particle swarm optimisation (MPSO) algorithm to identify nonlinear systems. The case of study is a hydraulic suspension system with a complicated nonlinear model. One of the main goals of system identification is to design a model-based controller such as a nonlinear controller using the feedback linearisation. Once the model is identified, the found parameters may be used to design or tune the controller. We introduce a novel mutation mechanism to enhance the global search ability and increase the convergence speed. The MPSO is used to find the optimum values of parameters by minimising the fitness function. The performance of MPSO is compared with genetic algorithm and alternative particle swarm optimisation algorithms in parameter identification. The presented comparisons confirm the superiority of MPSO algorithm in terms of the convergence speed and the accuracy without the premature convergence problem. Furthermore, MPSO is improved to detect any changes of system parameters, which can be used for designing an adaptive controller. Simulation results show the success of the proposed algorithm in tracking time-varying parameters. 相似文献
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《JSAE Review》2001,22(1):3-8
There is a mutual influence between the effects of controlling exhaust gas recirculation (EGR) and a variable geometry turbocharger (VGT). This paper presents an approach through the application of a control system CAD program and rapid prototyping tools to improve transient operating states by referring to a model-based exhaust recirculation and variable geometry turbocharger control algorithm. The operation model for estimating the state conditions of EGR and a VGT was built on the controller. Simulation and experimental results demonstrating the effectiveness of optimized transient control are also described. 相似文献
11.
Seung-Han You Young Man Cho Jin-Oh Hahn 《International Journal of Automotive Technology》2017,18(3):405-416
This paper presents a model-based fault detection and isolation technique for automotive yaw moment control system. For this purpose, a novel fault detection and isolation algorithm for a class of actuator-plant systems is proposed. Compared with the existing fault detection and isolation techniques that can only isolate a target fault or require multiple observers to isolate multiple faults, a unique strength of the proposed algorithm is its ability to isolate faults at the component level solely based on the residuals generated by a single observer. The validity of the proposed algorithm, applied to automotive yaw moment control system, is investigated via a simulation study based on a realistic vehicle dynamics model. The results suggest that the proposed algorithm can isolate the component subject to fault while effectively handling two perennial nuisances: sensitivity to disturbances and false alarms due to uncertainties. 相似文献
12.
Eman Mousavinejad Qing-Long Han Fuwen Yang Yong Zhu Ljubo Vlacic 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2017,55(2):268-294
An integrated vehicle dynamics control (IVDC) algorithm, developed for improving vehicle handling and stability under critical lateral motions, is discussed in this paper. The IVDC system utilises integral and nonsingular fast terminal sliding mode (NFTSM) control strategies and coordinates active front steering (AFS) and direct yaw moment control (DYC) systems. When the vehicle is in the normal driving situation, the AFS system provides handling enhancement. If the vehicle reaches its handling limit, both AFS and DYC are then integrated to ensure the vehicle stability. The major contribution of this paper is in improving the transient response of the vehicle yaw rate and sideslip angle tracking controllers by implementing advanced types of sliding mode strategies, namely integral terminal sliding mode and NFTSM, in the IVDC system. Simulation results demonstrate that the developed control algorithm for the IVDC system not only has strong robustness against uncertainties but also improves the transient response of the control system. 相似文献
13.
Xuewu Ji Xiangkun He Chen Lv Jian Wu 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2018,56(6):923-946
Modelling uncertainty, parameter variation and unknown external disturbance are the major concerns in the development of an advanced controller for vehicle stability at the limits of handling. Sliding mode control (SMC) method has proved to be robust against parameter variation and unknown external disturbance with satisfactory tracking performance. But modelling uncertainty, such as errors caused in model simplification, is inevitable in model-based controller design, resulting in lowered control quality. The adaptive radial basis function network (ARBFN) can effectively improve the control performance against large system uncertainty by learning to approximate arbitrary nonlinear functions and ensure the global asymptotic stability of the closed-loop system. In this paper, a novel vehicle dynamics stability control strategy is proposed using the adaptive radial basis function network sliding mode control (ARBFN-SMC) to learn system uncertainty and eliminate its adverse effects. This strategy adopts a hierarchical control structure which consists of reference model layer, yaw moment control layer, braking torque allocation layer and executive layer. Co-simulation using MATLAB/Simulink and AMESim is conducted on a verified 15-DOF nonlinear vehicle system model with the integrated-electro-hydraulic brake system (I-EHB) actuator in a Sine With Dwell manoeuvre. The simulation results show that ARBFN-SMC scheme exhibits superior stability and tracking performance in different running conditions compared with SMC scheme. 相似文献
14.
D. W. Pi N. Chen J. X. Wang B. J. Zhang 《International Journal of Automotive Technology》2011,12(3):391-399
This paper presents a method for estimating the vehicle side slip angle, which is considered as a significant signal in determining
the vehicle stability region in vehicle stability control systems. The proposed method combines the model-based method and
kinematics-based method. Side forces of the front and rear axles are provided as a weighted sum of directly calculated values
from a lateral acceleration sensor and a yaw rate sensor and from a tire model according to the nonlinear factor, which is
defined to identify the degree of nonlinearity of the vehicle state. Then, the side forces are fed to the extended Kalman
filter, which is designed based on the single-track vehicle model associated with a tire model. The cornering stiffness identifier
is introduced to compensate for tire force nonlinearities. A fuzzy-logic procedure is implemented to determine the nonlinear
factor from the input variables: yaw rate deviation from the reference value and lateral acceleration. The proposed observer
is compared with a model-based method and kinematics-based method. An 8 DOF vehicle model and Dugoff tire model are employed
to simulate the vehicle state in MATLAB/SIMULINK. The simulation results shows that the proposed method is more accurate than
the model-based method and kinematics-based method when the vehicle is subjected to severe maneuvers under different road
conditions. 相似文献
15.
《汽车技术》2017,(9)
Heavy duty diesel vehicles compliant with current Euro VI/EPA13 emission limits employ aftertreatment systems based on DOC/DPF technology for soot and particulate matter reduction and SCR catalysts with urea dosing for NO x reduction. Traditionally, the majority of the control systems used for urea dosing are map based. However, increasing system complexity combined with real-world performance requirements are a strong motivation to switch to a model-based control approach. Firstly, this article describes a model-based design approach for aftertreatment control development. Focus is on urea dosing control for Euro VI level SCR systems. To achieve the legal emissions limits, including in-service conformity over the vehicle lifetime, advanced model-based control strategies enable maximal NO x conversion in combination with minimum ammonia slip, while ensuring robustness against real-life disturbances. Simulation and experimental results of the control system are presented, which demonstrate the performance and robustness properties. Following this model-based approach, a concept study is performed to explore aftertreatment and control technologies to achieve ultra-low NO x emissions as will be imposed by regulatory bodies in the near future. It is shown that aftertreatment concepts with Passive NO x Adsorber and SCR on DPF are most promising. To optimize overall engine-aftertreatment performance, the modelbased control approach is extended towards Integrated Emission Management(IEM). Based on the actual system state, this supervisory controller minimizes operating costs at each instant in time under all operating conditions. This is key for costoptimal and robust performance. 相似文献
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路面不平度对道路车辆行驶安全性及车辆动力学响应具有重要影响。通过将路面不平度识别与先进悬架控制结合,有望能进一步提升乘员舒适性和车辆的操纵稳定性。现有基于数据驱动的路面分类方法难以高效处理时变参数与车速,现有基于模型的路面识别算法需要已知精确车辆模型,在实际应用中面临车辆物理参数难以获得的问题。提出一种融合模型和数据驱动的路面分类算法,采用基于模型的方法反算等效路面轮廓,结合数据预处理方法,对车辆响应和反算等效路面轮廓数据进行滤波;对等效路面轮廓和响应信息进行时域频域特征计算,采用ReliefF算法进行关键特征提取,构建基于径向基函数神经网络的路面分类器,进行路面分级识别;通过仿真试验和实车试验验证了不同车辆参数和车速下所提出的算法鲁棒性。 相似文献
18.
《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(12):1967-1979
Dynamic game theory brings together different features that are keys to many situations in control design: optimisation behaviour, the presence of multiple agents/players, enduring consequences of decisions and robustness with respect to variability in the environment, etc. In the presented methodology, vehicle stability is represented by a cooperative dynamic/difference game such that its two agents (players), namely the driver and the direct yaw controller (DYC), are working together to provide more stability to the vehicle system. While the driver provides the steering wheel control, the DYC control algorithm is obtained by the Nash game theory to ensure optimal performance as well as robustness to disturbances. The common two-degrees-of-freedom vehicle-handling performance model is put into discrete form to develop the game equations of motion. To evaluate the developed control algorithm, CarSim with its built-in nonlinear vehicle model along with the Pacejka tire model is used. The control algorithm is evaluated for a lane change manoeuvre, and the optimal set of steering angle and corrective yaw moment is calculated and fed to the test vehicle. Simulation results show that the optimal preview control algorithm can significantly reduce lateral velocity, yaw rate, and roll angle, which all contribute to enhancing vehicle stability. 相似文献
19.
Xiaodong Wu Mingming Zhang Min Xu Yo Kakogawa 《International Journal of Automotive Technology》2018,19(1):159-166
The tracking control of the steer-by-wire (SBW) system to achevie desired steering motion is the core issue for the design of algorithm. Most of model-based tracking control assumed the constant parameters without the consideration of dynamic characteristics. The external disturbances and model nonlinearities can bring uncertainties of the system parameters. To reduce the influence of parameter uncertainties, an online estimator by output error identification method is proposed to estimate the dynamic parameters of a SBW system. Meanwhile, the parameter gradient projection method is applied to eliminate the parameter drift, while a full order state observer is developed to weaken the effects of noise disturbance during the parameter identification. Since the sensitivity of parameter uncertainties for the feedforward control, the online estimator is incorporated into the control model and improve the controlled robustness. The proposed adaptive feedforward controller is conducted by the real-time experiments to show the tracking performance. 相似文献
20.
Robust yaw stability control for electric vehicles based on active front steering control through a steer-by-wire system 总被引:2,自引:0,他引:2
K. Nam S. Oh H. Fujimoto Y. Hori 《International Journal of Automotive Technology》2012,13(7):1169-1176
A robust yaw stability control design based on active front steering control is proposed for in-wheel-motored electric vehicles with a Steer-by-Wire (SbW) system. The proposed control system consists of an inner-loop controller (referred to in this paper as the steering angle-disturbance observer (SA-DOB), which rejects an input steering disturbance by feeding a compensation steering angle) and an outer-loop tracking controller (i.e., a PI-type tracking controller) to achieve control performance and stability. Because the model uncertainties, which include unmodeled high frequency dynamics and parameter variations, occur in a wide range of driving situations, a robust control design method is applied to the control system to simultaneously guarantee robust stability and robust performance of the control system. The proposed control algorithm was implemented in a CaSim model, which was designed to describe actual in-wheel-motored electric vehicles. The control performances of the proposed yaw stability control system are verified through computer simulations and experimental results using an experimental electric vehicle. 相似文献