A receding horizon sliding control approach for electric powertrains with backlash and flexible half-shafts

Active control of electric powertrains is challenging, due to the fact that backlash and structural flexibility in transmission components can cause severe performance degradation or even instability of the control system. Furthermore, high impact forces in transmissions reduce driving comfort and possibly lead to damage of the mechanical elements in contact. In this paper, a nonlinear electric powertrain is modelled as a piecewise affine (PWA) system. The novel receding horizon sliding control (RHSC) idea is extended to constrained PWA systems and utilised to systematically address the active control problem for electric powertrains. Simulations are conducted in Matlab/Simulink in conjunction with the high fidelity Carsim software. RHSC shows superior jerk suppression and target wheel speed tracking performance as well as reduced computational cost over classical model predictive control (MPC). This indicates the newly proposed RHSC is an effective method to address the active control problem for electric powertrains.     

Virtually being there: Human aspects of shore-based ship assistance

Shore-based ship assistance is a topic that increasingly is attracting attention from the maritime community. Subjects such as shore-based pilotage and VTS are often discussed and there is technological and political pressure towards more extensive forms of such assistance. Perhaps less often mentioned, but not less important, is the human side of these subjects. The present paper examines two of the central concerns for the people who actually work within today’s VTS centers, namely communication and trust. The study consisted of a literature review, study visits, observations and interviews. Communication and trust are found to be closely related, and one main finding is that adapting one’s means of communication to the context can be a very powerful (and necessary) tool for the creation of trust. Another important result is that the ability of the shore-based operator to see the situation from the viewpoint of the crew is crucial for the creation and maintenance of trust.     

Advanced Control Methods for Automotive Applications

This paper reviews key developments in applications of advanced control methods to automotive systems. Such applications appear in many aspects of vehicle controls. We will examine representative application areas, which include engines, suspension systems, traction systems, steering systems and those for automated highway systems (AHS). Each area is examined from the viewpoint of modeling and control algorithm development. Useful control theories for automotive application are briefly reviewed for better understanding of the applicability of these theories.     

转向和悬架系统的检修

不论汽车的转向和悬架中的部件使用什么材料，在摩擦力和汽车重力的作用下，这些部件都会产生不同程度的磨损。当磨损达到一定程度后，就会导致汽车的转向和悬架性能的显著下降。[编者按]     

The role of public transport for feasibility and acceptability of congestion charging – The case of Stockholm

In the Stockholm Trial, congestion charges and the expansion of public transport services were closely linked together in marketing efforts, as well as in political decisions. In this paper, we analyse the role that public transport may have played in increasing acceptability and feasibility of the scheme. We study four aspects of the relationship between charging and public transport provision: (i) the initial modal share, (ii) contribution to modal shift (iii) compensation to losers (iv) revenue hypothecation. Our analyses, based on a combination of primary and secondary data, support the hypothesis that public transport contributed to the successful implementation of congestion charging in Stockholm through all those four mechanisms.     

Estimation of Tire-Road Friction Using Observer Based Identifiers

This paper presents methods for identifying the tire-road friction coefficient. The proposed methods are: an observer-based least square method and an observer/filtered-regressor-based method. These methods were designed assuming that some of the states are not available since physical parameter identification methods developed assuming that the system states are available are not attractive from a practical point of view. The observer is used to estimate signals which are difficult or expensive to measure. Using the estimated states of the system and the filtered-regressor, the parameter estimates are obtained. The proposed methods are evaluated on an eight state nonlinear vehicle/transmission simulation model with a Bakker-Pacejka's formula tire model. Vehicle tests have been performed on dry and wet roads to verify the performance of the methods. It has been shown through simulations and vehicle tests how the RPM sensors can be used with observer based identification methods to estimate the tire-road friction from measurements of engine rpm, transmission output speed and wheel speed. The proposed methods will be useful in the implementation and adaptation of vehicle collision warning/avoidance algorithm since the tire-road friction can be estimated only using the RPM sensors which are currently being used in production vehicles.     

如何选购举升机?

汽车发明后不久,汽车维修机械师就在想:“怎样才能够把汽车举升到空中,从而可以在其下面工作?”举升机的发展史告诉我们,发明第一台自动举升机的灵感来自理发师的椅子,因为它可以快速升降和旋转,以适应于不同身高和胖瘦的顾客。早期的单柱地基式液压举升机,大大地提高了比它问世还早的千斤顶和台架的功能,这种早期举升机的旋转功能可以在举起汽车以后,将其旋转360°。我经常去的一个汽车维修厂,现在仍然利用这种举升机为客户提供日常的汽车维修服务,     

智能化自动阀

智能执行器的目前技术发展水平是小型、可靠、耐用和多功能，并具有使安装、操作和维修变得更为简单的智能化特征[编者按]     

Vehicle Dynamics Estimation Using Kalman Filters

This paper deals with the application of stochastic state estimators in vehicle dynamics control. It is often unrealistic to assume that all vehicle states and the disturbances acting on it can be measured. System states that cannot be measured directly, can be estimated by a Kalman Filter. The idea of the Kalman filter is to implement a model of the real system in an on-board computer in parallel with the system itself. This paper will give 3 examples of this principle applied to automotive systems.