Disturbance Observer-Based Sideslip Angle Control for Improving Cornering Characteristics of In-Wheel Motor Electric Vehicles

In this paper, a robust sideslip angle controller based on the direct yaw moment control (DYC) is proposed for in-wheel motor electric vehicles. Many studies have demonstrated that the DYC is one of the effective methods to improve vehicle maneuverability and stability. Previous approaches to achieve the DYC used differential braking and active steering system. Not only that, the conventional control systems were commonly dependent on the feedback of the yaw rate. In contrast to the traditional control schemes, however, this paper proposes a novel approach based on sideslip angle feedback without controlling the yaw rate. This is mainly because if the vehicle sideslip angle is controlled properly, the intended sideslip angle helps the vehicle to pass through the corner even at high speed. On the other hand, the vehicle may become unstable because of the too large sideslip caused by unexpected yaw disturbances and model uncertainties of time-varying parameters. From this aspect, disturbance observer (DOB) is employed to assure robust performance of the controller. The proposed controller was realized in CarSim model described actual electric vehicle and verified through computer simulations.     

The Geometrical Contact between Track and Wheelset

In previous publications the author has described a so-called first-order theory for the motion of a railway vehicle wheelset on a tangent track. In the present report the geometrical aspect of this theory is further evaluated and a method for solving the constraint equations between the coordinates of the wheelset is indicated.     

Control Behaviour of Motorcycle Riders

The control behaviour of motorcycle riders is studied by means of a simulation model for the ridermotorcycle system, which stresses the control actions of the riders. The rider model describes the major steering torque control as well as the rider's own body control actions. This simulation model is applied to a single lane change maneuver and the results of this simulation are compared with the experiments in order to examine its validity.     

Simulation Approach to the Effect of the Ratio Changing Speed of a Metal V-Belt CVT on the Vehicle Response

In regard to the belt and pulley system of a metal V-belt CVT, the characteristics of the ratio changing speed is obtained by experiments. It is summarized in a practical and simple experimental equation. By using this equation a simulation model is developed to analyze the response of a vehicle with a metal V-belt CVT to a rapid pulley ratio change. The simulation results are in reasonable agreements with experimental results.     

Static and Dynamic Stability of Unsymmetric Two-Axle Railway Vehicles Possessing Perfect Steering

For railway vehicles having coned wheels mounted on solid axles, there is a conflict between the stability of lateral deviations from the motion along the track and the ability to steer round curves. A general theory is developed for the two-axle vehicle in which there is a lack of symmetry, fore-and-aft, both of the interwheelset structure and of the equivalent conicities of the wheelsets. It is shown that whilst parameters can be selected which provide static and dynamic stability and perfect steering for both directions of motion, there is a lightly damped mode of oscillation for any practical configuration and the significance of this is discussed.     

Review on characterization of nano-particle emissions and PM morphology from internal combustion engines: Part 1

This paper is review of the characterization of exhaust particles from state-of-the-art internal combustion engines. We primarily focus on identifying the physical and chemical properties of nano-particles, i.e., the concentration, size distribution, and particulate matter (PM) morphology. Stringent emissions regulations of the Euro 6 and the LEV III require a substantial reduction in the PM emissions from vehicles, and improvements in human health effects. Advances in powertrains with sophisticated engine control strategies and engine after-treatment technologies have significantly improved PM emission levels, motivating the development of new particle measurement instruments and chemical analysis procedures. In this paper, recent research trends are reviewed for physical and chemical PM characterization methods for gasoline and diesel fueled engines under various vehicle certification cycles and real-world driving conditions. The effects of engine technologies, fuels, and engine lubricant oils on exhaust PM morphology and compositions are also discussed.     

Simulation of mixed gas formation for a spray-wall complex guided LPG direct injection engine

To obtain an ultralean air-fuel ratio and to reduce engine-out NOX and HC emissions induced by the richer mixture near the spark plug, a spray and wall complex guided combustion system has been developed by utilizing the fuel characteristics of LPG. The new combustion system configuration is optimized by using a commercial CFD code, FIRE V2013, and the reliability of the system has been experimentally demonstrated by Plane Laser-Induced Fluorescence (PLIF). The mixture formation in the new combustion system under part load (2,000 rpm) is numerically simulated. With an injection timing of 40°CA BTDC, the LPG spray which is injected from two upper holes, reaches the ignition point, and the other part of the LPG spray which is injected from the bottom hole, is directed to the ignition point through the vertical vortices at the same time. At the ignition timing of about 20°CA BTDC, the two-part mixtures have been shown to form a stable and richer stratified mixture around the ignition point, and the maximum global air-fuel ratio reaches to 60: 1.     

Robust control for four-wheel-independent-steering electric vehicle with steer-by-wire system

A four-wheel-independent-steering (4WIS) electric vehicle (EV) with steer-by-wire (SBW) system is proposed in this paper. The fast terminal sliding mode controller (FTSMC) is designed for the SBW system to suppress external disturbances. Taking unstructured and structured uncertainties into consideration, a robust controller is designed for the 4WIS EV utilizing μ synthesis approach and the controller order reduction is implemented based on Hankel-Norm approximation. Since sideslip angle is the feedback signal of robust controller and it is hard to measure, the extended Kalman filter (EKF) is employed to estimate sideslip angle. To evaluate the vehicle performance with the designed control system, step and sinusoidal steering maneuvers are simulated and analyzed. Simulation results show that the designed control system have good tracking ability, strong robust stability and good robust performance to improve vehicle stability and handing performance.     

Effective method for knock signal denoising in internal combustion engine

Uncontrolled expansion of combustion wave in spark ignited internal combustion engine causes knock effect which seriously degrades efficiency and lifetime of the engine. Thus, accurate knock detection and control are essential for obtaining a desired performance from the engine. Usually, knock sensor is used to detect this phenomenon but it has limited accuracy especially at engine high-speed rotations because of natural vibration and external noises. In this study an effective method based on Non-Local Mean (NLM) algorithm has been proposed to improve the knock detection accuracy. This method is evaluated based on four different indicators and four engine cylinders. The results show 52.9 % improvement in knock detection. Also feasibility of real time execution of this method based on embedded hardware has been studied.