Torque ripple minimization control of permanent magnet synchronous motors for EPS applications

This paper identifies a control method used to reduce torque ripple of a permanent magnet synchronous motor (PMSM) for an electric power steering (EPS) system. NVH (Noise Vibration Harshness) is important for safe and convenient driving. Vibration caused by motor torque is a problem in column type EPS systems. Maintaining a very low torque ripple is one solution that allows for smoother steering. Theoretically, it is possible to design and drive the motor without torque ripple. However, in reality, a PMSM system torque ripple is caused by the motor itself (saturation in the iron core and EMF distortion) and the imperfect driver. This paper analyzes torque ripple of a PMSM system, and an advanced PMSM control method for the column typed EPS system is presented. Results of the analysis indicate that the compensation current is needed in order to minimize torque ripple when a PMSM is driven.     

Optimal design of the exhaust system layout to suppress the discharge noise from an idling engine

At the idle engine speed, the exhaust discharge noise is influenced by resonances in the whole system, which is composed of connecting pipes and silencers. This pipe resonance radiates a high level of low frequency discharge noise, which is dominated by the low order harmonics of the engine firing frequency. This low frequency noise deteriorates the vehicle’s interior noise level and quality. The following study attempted to optimize the layout of an exhaust system to minimize low frequency noise by changing the position of silencers and the lengths of inlet and outlet pipes in each silencer. After modeling the exhaust system using four-pole parameters, the acoustical performance of the system was evaluated using the system insertion loss. In the optimization, the virtual attenuation coefficient, which corresponds to the amount of attenuation coefficient required for the silencers, was calculated to find a minimum value for the layout. The simulated annealing method, which is also known as finding an optimal, was employed in searching for the optimized exhaust layout. Test examples of two cases, for two and six design variables, were used. When the number of design variables was two, the positions of the center and rear silencers were considered. When the number of design variables was six, the positions of the two silencers and the lengths of the inlet and outlet pipes were considered. Three typical layouts for the exhaust system of each case were designed, including the given system and an optimal system. By comparing the predicted and measured discharge noise level, it was confirmed that the optimized exhaust layout has a higher noise reduction than the other layout designs.     

Computational model for analyzing the kinematics and compliance characteristics of a commercial vehicle’s front suspension system

This paper develops a computational model that can analyze the kinematics and compliance characteristics of the front suspension of a commercial vehicle. This computational model is called the flexible multi-body dynamic model because it is developed by interfacing the finite element model of the multi-leaf spring with the dynamic model of the front suspension. In this paper, the bump mode and roll mode tests are performed with a suspension parameter measuring device (SPMD). An excitation load for creating the bump mode and roll mode motion is applied on the left and right tires slowly in in-phase and out-of-phase modes. In the test, wheel rate, toe angle change, caster angle change, and camber angle change, which together represent the wheel alignment, are measured along with the longitudinal and lateral wheel center loci which together represent the wheel center trajectory change. The reliability of the developed computational model is verified by comparing the simulation results with the SPMD test results. The developed flexible multi-body computational model will provide useful information on kinematics and compliance characteristics in the earliest stages of the commercial vehicle design process.     

Modeling and control of an anti-lock brake and steering system for cooperative control on split-mu surfaces

The brake and steering systems in vehicles are the most effective actuators that directly affect the vehicle dynamics. In general, the brake system affects the longitudinal dynamics and the steering system affects the lateral dynamics; however, their effects are coupled when the vehicle is braking on a non-homogenous surface, such as a split-mu road. The yaw moment compensation of the steering control on a split-mu road is one of the basic functions of integrated or coordinated chassis control systems and has been demonstrated by several chassis suppliers. However, the disturbance yaw moment is generally compensated for using the yaw rate feedback or using wheel brake pressure measurement. Access to the wheel brake pressure through physical sensors is not cost effective; therefore, we modeled the hydraulic brake system to avoid using physical sensors and to estimate the brake pressure. The steering angle controller was designed to mitigate the non-symmetric braking force effect and to stabilize the yaw rate dynamics of the vehicle. An H-infinity design synthesis was used to take the system model and the estimation errors into account, and the designed controller was evaluated using vehicle tests.     

Lateral controller design for an unmanned vehicle via Kalman filtering

This paper proposes a lateral control system for an unmanned vehicle that is designed to improve the responsiveness of the system with the use of a PD control. The vehicle heading error can be stabilized, and the transient response characteristics can be improved using the proposed controller. A mathematical model of the vehicle dynamics using two degrees of freedom was developed for the controller design. The waypoint tracking method for autonomous navigation was tested with incorporation of the Point-to-Point algorithm with position and heading measurements received from GPS receivers via Kalman filtering. The performance of the designed controller was verified through experiments with a real vehicle.     

Design optimization of an injection mold for minimizing temperature deviation

The quality of an injection molded part is largely affected by the mold cooling. Consequently, this makes it necessary to optimize the mold cooling circuit when designing the part but prior to designing the mold. Various approaches of optimizing the mold cooling circuit have been proposed previously. In this work, optimization of the mold cooling circuit was automated by a commercial process integration and design optimization tool called Process Integration, Automation and Optimization (PIAnO), which is often used for large automotive parts such as bumpers and instrument panels. The cooling channels and baffle tubes were located on the offset profile equidistant from the part surface. The locations of the cooling channels and the baffle tubes were automatically generated and input into the mold cooling computer-aided engineering program, Autodesk Moldflow Insight 2010. The objective function was the deviation of the mold surface temperature from a given design temperature. Design variables in the optimization were the depths, distances and diameters of the cooling channels and the baffle tubes. For a more practical analysis, the pressure drop and temperature drop were considered the limited values. Optimization was performed using the progressive quadratic response surface method. The optimization resulted in a more uniform temperature distribution when compared to the initial design, and utilizing the proposed optimization method, a satisfactory solution could be made at a lower cost.     

Control of drivers' route choice: Pipe dream or panacea?

In most large cities traffic flow is controlled or manipulated in a number of ways. The methods used are mostly negative in the sense that they restrict the driver's choice of alternative routes rather than encourage him to use a particular one. This paper reviews some of the conventional measures and goes on to consider whether a more positive approach to route control might be justified, by inducing a more efficient or acceptable pattern of traffic movement in urban areas. The principal criteria for an efficient pattern are taken to be the total rate of expenditure of vehicle mileage and the frequency of route crossings, and an attempt is made to evaluate the potential benefits of route control in these terms. Social, technical and political considerations suggest that compulsory control will not be feasible for some time (at least, in the UK), but if the benefits to drivers as individuals can be shown to be worthwhile an advisory system might be practicable. Some possible systems are briefly outlined.The author is grateful to the City Engineer of Westminster City Council, Mr A.J. Cryer, for permission to publish this paper,which, however, does not necessarily represent the views . City Council. The author is greatly indebted to E. M. Holroyd for numerous suggestions and advice.     

Study of the Impact of Single-and Double-tube Tunnel Systems on Rockburst in Deep-buried Extra-long Tunnelling北大核心CSCD

Rockburst is one of the main disasters for tunnelling under high ground stress. Taking the rockburst section of Ping'an Tunnel with high ground stress, which is located on Chengdu-Lanzhou Railway, as the study object, this paper adopts combined methods of filed measurement, numerical analysis, and laboratory test, and with respect to rockburst development mechanism, energy density change and rockburst strength it comprehensively analyzes the impact of two construction schemes (single-tube double-track tunnel system and double-tube single-track tunnel system) on the rockburst in deep-buried extra-long tunnels with high ground stress. The study results show that the order relation of maximum energy density at various locations of the tunnel is Uside wall >Uhance >Utunnel face >Uvault, and rockburst easily occurs at the working face of the tunnel section to be excavated and both side walls of excavated and supported section; compared with vault, hance, side wall and other locations, more energy would be released at the tunnel face, and the stress release holes shall be reasonably installed in the process of excavation; the doubletube single-track tunnel system scheme can effectively reduce the rockburst intensity and the rockburst hazards, so as to better avoid the occurrence of rockburst. © 2022, Editorial Office of Modern Tunnelling Technology. All right reserved.     

某富水断层隧道涌水治理方案优化分析及工程应用北大核心CSCD

以武九高速高楼山公路隧道为例,针对以断层破碎带为主控因素的隧道突水治理问题展开数值分析研究。基于FLAC 3D有限差分法及流固耦合分析原理,研究了导水洞排水、注浆堵水和排堵结合等不同治理方式对隧道涌水量及围岩稳定性的影响。结果表明:对于富水断层隧道发生A、B级别的大量涌水时,建议同时采取导水洞排水、注浆堵水的排堵结合措施,导水洞设置在近断层处,且与隧道相对距离为0.75(D+l),注浆圈厚度控制在7 m以内,注浆圈相对渗透系数比不超过10,既能降低涌水量,又能保证围岩的稳定性;对于C级涌水隧道,可采取注浆措施,注浆厚度不低于3 m,相对渗透系数不低于20;对于D级及以下涌水隧道,采取常规抽排水措施即可。     

Facing the realities of non-motorized transportation in developing countries

The objective of this paper is to assess issues concerning non-motorized transportation in developing countries. This assessment is done through an examination of three topics: a brief overview of the transportation picture in developing countries; a study of city size and city form vis-a-vis pedestrian movement; and, a look at the characteristics of non-motorized modes, including their capacities. An analysis and discussion attempt to sort out the crucial issues connected with pedestrian planning in particular, and non-motorized transport in general. It is concluded (1) that special attention be paid to space/time capacity/cost issues connected with non-motorized modes (2)that some of the low-cost intermediate technology modes be examined for possible inclusion in traffic streams (3)that land-use patterns need to be rearranged keeping in mind the limitations of non-motorized modes, and (4)that the extent to which physical trip-making can be substituted by telecommunication needs to be examined very critically. An agenda for action reflects these concerns.