Passive Repulsive MagLev: Concept and Experimental Demonstration

A simple demonstrator for a magnetic levitation vehicle (MagLev) based on repulsive suspension forces generated by permanent magnets is presented. The lateral and yaw motions are stabilized using controlled electromagnets. A mathematical model, aimed mainly at defining the control strategy, has been developed and then experimentally validated using the demonstrator. Two different control strategies have been tested, namely a zero position error and a zero average current control strategy. Both proved to grant a stable behaviour and to effectively counteract external force disturbances. This demonstrator will be used in future research on MagLev vehicles but also on magnetic suspensions in general.     

Détection de chutes de personnes sur les voies et d'intrusions en tunnels dans les transports publics

In the framework of the European cromatica project, which aims to improve public transport safety, we have developed a computer vision application for detecting persons or objects falling onto the tracks or non-authorized persons intruding into tunnels when trains are running. The study includes the creation of a demonstrator. Currently, most metro systems have no video coverage of sensitive zones such as platform/track interfaces, tracks and tunnel entrances. When such coverage has been installed, use of the images merely involves the operator observing sensitive zones on an occasional basis, in particular when informed about an incident by other means. In contrast, we propose a completely automatic system based on permanent video monitoring of platform/track interfaces, tracks and tunnel entrances. A first algorithm, built into a processing board in a pc, processes video images in order to detect movement in prohibited zones. Then other algorithms localize this movement and measure the size of the object. The decision whether or not to alert the operator is then taken. The first results from the demonstrator, which has been installed at the Paris Metro station Havre-Caumartin, are very encouraging.     

考虑路面不平度的汽车稳定性控制的研究

考虑路面不平度对汽车稳定性的影响，建立了一个含路面不平度激励的14自由度的汽车动力学模型。在主动悬架技术的基础上，运用直接的反馈控制制定了提高汽车操纵稳定性的控制策略。利用该模型进行了汽车稳定性的仿真研究。与没有稳定性控制系统的仿真结果相比，该控制器的应用能够较好地改善汽车的稳定性。     

雷诺推出电动汽车原型车

雷诺将于2011年开始销售一系列的电池电动车，并且雷诺现正在展示一款基于Kangoo be bop车型的展示车中所采用的技术     

并联式混合动力电动汽车模糊控制策略的仿真研究

分析混合动力系统能量流动和功率平衡问题,推导出时间离散条件下能量流的表达式。结合不同的循环工况,从理论上比较电气辅助和模糊控制策略对于并联式混合电动汽车驱动系统工作的影响,并进行仿真研究。仿真结果表明,模糊控制策略明显优于电气辅助控制策略,汽车的油耗和废气排放水平均显著下降,整车效率得到提高,同时汽车动力性亦满足正常的行驶需求。     

多轴分布式电驱动车辆电液复合制动控制研究

针对多轴分布式电机驱动车辆电液复合制动中易出现的车辆制动抖动问题,提出了一种建压阶段电机制动力修正策略和一种基于前馈-反馈的协调控制策略,分别在建压阶段和其他阶段通过协调复合制动力来解决制动抖动的问题。针对防抱死控制系统与电机制动系统共同作用时的制动矛盾,提出了一种基于PID 控制的ABS控制策略,主要通过改变电机制动力来解决制动矛盾的问题。通过TruckSim、Matlab/Simulink及AMESim联合仿真验证,制动冲击度在建压阶段下降了 20.66%,在电机退出阶段下降了 92.59%,驾驶感觉得到明显改善。而 ABS控制策略也可在保证理想滑移率的同时完成制动能量回收;结合整车制动试验,表明协调控制策略在保证制动效果良好的同时实现了制动能量回收,效果显著。     

基于某混合动力轿车的定速巡航控制系统研究

设计开发了采用电子节气门技术的混合动力轿车定速巡航控制系统的控制策略,将巡航控制策略集成到混合动力主控制策略内,而不需采用独立的巡航控制器和驱动节气门的执行器。巡航开关用结构相对简单的巡航按钮开关取代了结构相对复杂的巡航操纵杆。通过与传统车辆定速巡航系统的结构功能对比,重新规划了该定速巡航控制系统的功能需求,并基于Matlab/Simulink平台对其进行了建模仿真及功能验证。     

Route adaptation of control strategies for a hybrid city bus

A series hybrid city bus with diesel engine and electric batteries is studied on a specified route. The study uses two different basic control strategies, “On/off” and “Continuous” strategy. These basic strategies are complemented in two ways. First, an “Adviser” strategy which filters the driver commands and gives driver support feedback based on the route data. Second, an “Adapter” strategy, which adapts and the control to the route, using different control depending on the vehicle present position. Simulation results are presented. They show that the adviser and adapter strategies improves both emissions and fuel consumption.     

基于遗传算法的汽车滑行阻力系数测定方法

把解超越方程组转化为一个函数在一定区域内的优化问题，利用遗传算法的全局搜索性和隐含并行性，通过实数编码，赌盘选择，算术交叉，均匀变异，同时采用最优保存策略，一代代地进行优化直到转化而成的函数收敛到零或接近于零为止，从而求出方程组的解，即为汽车滑行试验所需要确定的滑行阻力系数。     

Application of a modified thermostatic control strategy to parallel mild HEV for improving fuel economy in urban driving conditions

A modified thermostatic control strategy is applied to the powertrain control of a parallel mild hybrid electric vehicle (HEV) to improve fuel economy. This strategy can improve the fuel economy of a parallel mild HEV by operating internal combustion engine (ICE) in a high-efficiency region. Thus, in this study, experiments of a parallel mild HEV were conducted to analyze the characteristics of the hybrid electric powertrain and a numerical model is developed for the vehicle. Based on the results, the thermostatic control strategy was modified and applied to the vehicle model. Also, battery protection logic by using electrochemical battery model is applied because the active usage of battery by thermostatic control strategy can damage the battery. The simulation results of the vehicle under urban driving conditions show that the thermostatic control strategy can improve the vehicle’s fuel economy by 3.7 % compared with that of the conventional strategy. The results also suggest that the trade-off between the fuel economy improvement by efficient ICE operation and the battery life reduction by active battery usage should be carefully investigated when a thermostatic control strategy is applied to a parallel mild HEV.     

From Offline to Adaptive Online Energy Management Strategy of Hybrid Vehicle Using Pontryagin’s Minimum Principle

This paper details the development of an energy management strategy (EMS) for real-time control of a multi hybrid plug-in electric bus. The energy management problem has been formulated as an optimal control problem in order to minimize the fuel consumption of the bus drivetrain for a typical day of operation. Considering the physical characteristics of the studied hybrid electric bus and its well-known daily tour, the Pontryagin’s minimum principle (PMP) is firstly used as the mean to obtain offline optimal EMS. Afterward, in order to adapt the proposed strategy for real-time implementation, the proposed control parameters are adapted online using feedback from the battery state of energy (SOE) which allows us to accurately control the battery SOE in the presence of wide range of uncertainties. The work proposed in this paper is conducted on a dedicated high-fidelity dynamical model of the hybrid bus, that was developed on MATLAB/TruckMaker software. The performance evaluation of the proposed strategy is carried out using a normalized driving cycles to represent different driving scenarios. Obtained results show that among the investigated methods, it is reasonable to conclude that the proposed adaptive online strategy based on PMP is the most suitable to design the targeted EMS.     

Application study on a control strategy for a hybrid electric public bus

This paper first describes the control strategy used in a hybrid electric public bus and then proposes a torque-balancing control strategy. Simulations were performed using the designed control strategies, and the results were analyzed under different conditions. The torque-balancing control strategy was improved on the basis of the efficiency-first ideas of the hybrid system. Finally, experiments were performed to verify that the efficiency-first and torque-balancing control strategy (EFCS) is both feasible and reliable. The simulation results showed that, compared with a conventional public bus, the hybrid electric bus could save approximately 27.3 percent on fuel consumption using the EFCS control strategy in a public bus in China, while under the Wuhan urban driving cycle.     

基于小波控制的电动汽车稳定性研究（双语出版）

针对前轮独立驱动电动汽车,研究一种基于小波控制器的驱动稳定性控制系统。为提高车辆对开路面的行驶稳定性,根据驱动轮等转矩分配控制策略,提出基于神经网络PID的驱动轮滑移率相近为目标控制策略。针对矢量控制中的电流控制,提出基于离散小波变换的电流控制器。通过CarSim/Simulink建立前轮独立驱动电动汽车联合仿真平台,进行不同工况整车性能仿真与分析,并基于A&D5435快速原型开发平台进行实车试验。仿真与试验结果表明：基于小波控制器的驱动控制系统不仅提高了车辆对开路面行驶的稳定性,而且具有更平滑、更快速的转矩响应;对开路面工况下,提出的控制策略左侧、右侧驱动轮速度仿真结果与试验结果最大偏差分别为3.43%和3.56%;等转矩分配控制策略下,左侧、右侧驱动轮速度仿真结果与试验结果最大偏差分别为3.86%和3.25%,表明了试验与仿真的一致性;对开路面仿真工况下,相比于驱动轮等转矩分配控制策略,基于神经网络PID的驱动轮滑移率相近为目标控制策略的车辆峰值质心侧偏角降低了79.57%,侧向跑偏距离降低了73.39%。     

混合动力汽车上下电控制策略研究

详细描述传统汽车与混合动力汽车电源管理拓扑结构和控制模式的区别,提出基于CAN协议的强、弱电管理策略,并对其上下电过程进行重新定义。通过对动力电池预充电过程的分析,确定基于电机母线电压的故障诊断策略。最后,将该控制策略结合无钥匙进入系统、一键式起动开关应用于实车中,通过试验数据验证该上下电控制策略的安全性、可靠性。     

高压共轨柴油机智能判缸策略

对比分析了传统判缸控制策略与高压共轨柴油机判缸控制策略的差异,提出发动机在传感器故障模式下的判缸控制策略,以及在处理传感器信号时减少相位误差所采用的控制技术.采用的ASCET软件对传感器信号故障模式下的控制策略进行了仿真,结果表明,高压共轨柴油机智能判缸策略有助于提高发动机运行可靠性.     

On the experimental analysis of single input single output control of yaw rate and sideslip angle

Electric vehicles with individually controlled drivetrains allow torque-vectoring, which improves vehicle safety and drivability. This paper investigates a new approach to the concurrent control of yaw rate and sideslip angle. The proposed controller is a simple single input single output (SISO) yaw rate controller, in which the reference yaw rate depends on the vehicle handling requirements, and the actual sideslip angle. The sideslip contribution enhances safety, as it provides a corrective action in critical situations, e.g., in case of oversteer during extreme cornering on a low friction surface. The proposed controller is experimentally assessed on an electric vehicle demonstrator along two maneuvers on surfaces with significantly varying tire-road friction coefficient. Different longitudinal locations of the sideslip angle used as control variable are compared during the experiments. Results show that: i) the proposed SISO approach provides significant improvements with respect to the vehicle without torque-vectoring, and the controlled vehicle with a reference yaw rate solely based on the handling requirements for high-friction maneuvering; and ii) the control of the rear axle sideslip angle provides better performance than the control of the sideslip angle at the center of gravity.     

Modeling and ratio control of an electromechanical continuously variable transmission

A new type of electromechanical continuously variable transmission (EMCVT) was investigated. The EMCVT uses a direct current (DC) motor to push the driving pulley, which in turn changes the transmission ratio without a hydraulic system. This paper introduces the principle of the EMCVT and establishes a dynamic ratio control model. Ratio control strategies using both position and speed closed-loop control are proposed. Simulation results show that the simulation ratio curves of the EMCVT follow pre-designed ratios well for ramp and sine curves. Control software is based on MATLAB/Simulink/Stateflow and MotoHawk platforms. A prototype vehicle equipped with an EMCVT has been developed. Vehicle test results show that the control performance of the EMCVT satisfies the requirements of vehicle operation. The effectiveness of the EMCVT ratio control strategy proposed in this paper is validated with test data for the prototype vehicle.     

并联混合动力汽车整车控制仿真

新能源汽车3大关键技术包括动力电池及其电池管理系统、驱动电机及其电机控制以及整车能量管理控制策略,整车控制策略直接决定能量流在汽车内部的流动及整车性能的好坏。文章利用模糊控制策略建立了详细的动力总成多能源能量管理控制模块,并通过ADVISOR仿真平台对所设计的控制策略进行仿真分析。仿真结果显示100km油耗仅5．1L,0-100km／h加速时间为23．1s,最大行驶速度168.3km／h;表明该能量管理策略能明显改善燃油经济性。动力性也具有较好表现。     

ISG型混合动力汽车粒子群优化模糊控制研究

针对ISG型混合动力汽车能量分配的控制过程,应用传统的模糊控制存在精度不高、自适应能力有限等问题.提出一种粒子群优化模糊控制的方法.在应用传统模糊逻辑建立控制模型基础上,利用粒子群算法对模糊控制中的隶属度函数进行优化,实现了优化的隶属度函数随环境变化以及负载变化实时跟踪模糊控制器的参数变化.仿真结果表明,与Insigh...