Damper modeling for dynamic simulation of a large bus with MR damper

In this study, a large bus is tested to measure its dynamic response by the single-lane change test and the rapid stop test. A full car model is established by ADAMS/Car for computer simulation. For multibody modeling of a large bus, user-defined templates are used in the simulation. Simulation results of the single-lane change test and the rapid braking test are compared to the results of the physical experiments, in which several sensors are installed to measure the vehicle’s responses. The results obtained from the simulation show good agreement with the tests’ results. A dynamic model for the MR(magnetic-rheological) damper is also developed by employing the Magic Formula model, which is widely used in the nonlinear modeling of a tire. Bump simulation of a full car with the MR damper is carried out to verify the performance of the MR damper. The comparison of the simulation results obtained with the MR damper model to the results obtained with the traditional passive damper model showed improved response of the vehicle with the MR damper.     

Development of a navigation algorithm with dead reckoning for unmanned ground vehicles

A navigation algorithm is indispensable for Unmanned Ground Vehicles (UGVs). During driving, UGVs follow a global path. In this study, we propose a navigation algorithm using Real Time Kinematic (RTK)-Differential Global Positioning System (DGPS) units and encoders to complement global path planning. Sometimes GPS systems lose their signals and receive inaccurate position data due to many factors, such as edifice and barrier obstructions. This paper shows that GPS deviations can be solved using a Dead Reckoning (DR) navigation method with encoders and that position errors can be decreased through the use of RTK-DGPS units. In addition to this method, we will introduce a new waypoint update algorithm and a steering algorithm using RTK-DGPS units.     

Impact of hilly road information on fuel economy of FCHEV based on parameterization of hilly roads

Under real-life driving conditions, hilly roads are prevalent. Hilly road profile substantially influences fuel economy (FE) due to large impacts (increase or decrease) on power demand profile. Thus, the utilization of future altitude profile information has large potential to improve FE. In this paper, for optimal energy management of fuel cell hybrid electric vehicles (FCHEV), we investigate how much FE could potentially be improved when future altitude profile information is available. In particular, the simulation results are analyzed to justify the reason for this potential improvement and to identify which characteristics of hilly roads leads to large FE improvements. First of all, four statistical parameters are defined to characterize hilly roads: mean value, standard deviation (STD), distance interval (DI), and total distance. Then, several types of virtual hilly roads are generated based on various parameter combinations. In order to evaluate the potential FE improvement two energy management strategies (EMSs) are utilized: the first is Dynamic Programming, which evaluates the globally optimal FE when future hilly road information is available; the other is the Equivalent Consumption Minimization Strategy (ECMS) with adaptive equivalent factor for charge-sustenance, which represents the baseline EMS when future hilly road information is not available. The results show that downhill roads have much larger potential than uphill roads do for FE improvements when the future altitude profile is properly used for EMS. Furthermore, if the battery capacity is not large enough to handle the difference in potential energy, future hilly road information is more important to prevent violations of the maximum state-of-charge bound.     

Methodology for bus structure torsion stiffness and natural vibration frequency prediction based on a dimensional analysis approach

Engineering bus design requires testing of bus structures prototypes in order to guarantee a certain level of strength and an appropriate static and dynamic behavior of the bus superstructure when exposed to road loads. However, experimental testing of real bus structures is very expensive as it requires expensive resources and space. If testing is done on a scale bus model the previous required expenses are considerably reduced. Therefore, a novel methodology based on dimensional analysis applied to bus structure prediction to evaluate the bus structure static and dynamic performance is proposed. The static performance is evaluated attending to torsion stiffness and the dynamic in terms of the natural vibration frequencies and rollover threshold. A scale bus has been manufactured and dimensionless parameters have been defined in order to project the results obtained in the scale bus model to a larger model. Validation of the proposed methodology has been carried out under experimental and finite element analysis.     

Development of electrostatic diesel particulate matter filtration systems combined with a metallic Flow-Through Filter and electrostatic methods

A 3000 cc diesel engine attached to an engine dynamo was used to test three newly developed electrostatic Diesel Particulate matter filtration Systems (DPS 1, 2, and 3) under four steady-state engine operating conditions: idle, 2000 rpm with no load, and 2000 rpm under 25% and 50% loads. Of the two developed alternatives, DPS 1 and DPS 2, DPS 2 comprises an ionization section, electrostatic field additional section and Flow-Through Filter (FTF), which achieved almost 90% removal of particulate matter (PM) under the engine’s operating conditions, and the efficiency of the FTF was maintained between 20% and 50%. Comparing the long-term performance of DPS 2 and DPS 3 (effectively a serial combination of two DPS 2s) with a commercially-available Diesel Particulate Filter (DPF), the DPS 2 and DPS 3 achieved almost the same efficiency for removing PM as the DPF but had significantly improved (75%∼90% lower) differential pressure drops.     

Design and implementation of a new clamping force estimator in Electro-Mechanical Brake systems

In this paper, an improved clamping force estimator is proposed for Electro-Mechanical Brake (EMB) systems by using the motor rotor position information and the hysteresis characteristics of mechanical parts in the EMB. A cascaded type of a force/position control system with a force sensor or an estimator was designed and implemented to control the clamping force and to keep the clearance gap in EMB systems. The EMB Hardware-In-the-Loop-Simulation (HILS) results show that the proposed force estimator yields better estimation performance than the existing estimator and that the clamping force control system based on the estimator can be also used for the fault tolerant control of the system.     

Modeling and control strategy development of a parallel hybrid electric bus

This paper presents the system modeling, control strategy design, and experiment validation of a parallel hybrid electric bus with an automatic manual transmission (AMT) and a dry clutch. The mathematical model representation and the system architecture of the powertrain are first described. Next, a complete control scheme including energy management strategy and coordinated control of the AMT and the clutch is presented. The controller and powertrain models are then integrated in a way that the power management and the hybrid driveline perform in real world. The analysis and validation through model simulation and comparison with experiment data are conducted. A good agreement between the model and experiment demonstrates the efficacy and credibility of the integrated model. The integrated model is employed in both simulation and bench-test assessments for the development of a hybrid control unit. The results indicate that the model-based design methodology is beneficial to systematically analyzing and understanding the dynamics of hybrid electric powertrain.     

Trigger algorithm of vehicle automatic crash notification system

The Automatic Crash Notification (ACN) system is an effective technology to decrease the crash response time, improve the level of post-accident rescue and alleviate the severity of injuries. To realize this system, a vehicle terminal is developed. And based on a moving window integral algorithm, the trigger algorithm of ACN system is designed. By comparing the effect of different window widths on the trigger algorithm, we select the window width of the moving window integral algorithm as 8 ms. After system is triggered, different notify types was determined according to the change of velocity in the moving window. A sled impact simulation test shows that the impact can be identified rapidly and also the notify types can be judged by the trigger algorithm. A vehicle road test proves that the ACN system has no false trigger cases. The outcomes of this study support identifications of accidents and crash severities for both occupants and emergency centers.