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.     

Pantograph/Catenary Dynamics and Control

The pantograph-catenary system with its dynamic behaviour turned out to be a crucial component for new train systems required to run at higher speeds. With the present systems, operational limitations have to be accepted when running with several pantographs in the train set, when tilting trains are employed, when running on low quality catenary sections or when stricter noise reduction regulations are forcing lower noise emissions also for the pantographs. This paper gives an overview of the methods to describe the catenary and the pantograph system dynamics. Furthermore, aspects concerning the interaction between current collectors and overhead equipment, the acquisition of the model data and the verification are presented. Finally various constructions of passive pantographs and proposals for active control concepts are discussed.     

发展“绿色”汽车势在必行 但道路崎岖

在过去几年里,中国试图将新能源汽车开发领先于世界。但高成本、技术落后和低动力继续阻止了新能源汽车的量产。两年前,《纽约时报》曾刊登了一篇题为“中国力争成为世界电动汽车的领头羊”的文章,报道了中国汽车产业政策制订者将中国定位于“在未来三年内”成为全球领先的绿色能源汽车生产国之一。     

Validity and limitations of the kinematic roll center concept from the viewpoint of spatial kinematics using screw theory

In this research, the concept of the kinematic roll center is reviewed from the viewpoint of three-dimensional spatial kinematics. The theory of screws, which is widely used in spatial kinematics and robotics, is used to prove the validity of the conventional planar methods for finding the roll center in an initial symmetric vehicle position. The kinematic roll axis, which is referred to as the roll twist axis in this paper, is defined as the instantaneous screw axis of the vehicle body in roll motion with respect to the ground, and a three-dimensional method to determine the roll twist axis of a full-vehicle model in an initial symmetric position is introduced. The proposed method is based on screw theory, which relates the kinematics of a full-vehicle model to the statics of the full-vehicle model using the concepts of screws, twists, wrenches, the rate of working, and the reciprocity of screws. The results of the proposed three-dimensional method are compared with those of the conventional planar methods, and it is found that the conventional methods are valid under the assumption that the vehicle is in a symmetric situation.     

Investigation into the development of a bus electrical cooling fan system

Manufacturers of commercial vehicles are facing a substantial increase of heat release into their cooling systems. The main sources for this increase are more stringent emissions leading to new combustion technologies and the increased power of these engines. The total increase in the cooling requirement may be up to 20% over the current level. At the same time, the noise levels must be decreased, and fuel economy has to improve. This forces manufacturers to consider new concepts and optimize the efficiency of the cooling system. A bus engine cooling fan system is one of the main means of vehicular fuel efficiency reduction. This is becoming a major factor in city noise, and the necessity of electromagnetic technical development is very great. This study features a highly effective BLDC motor for engine cooling fans with high effectiveness and low noise, which is most suitable for fan blade technical development and cooling fan performance evaluation technical development.     

Novel coordinated algorithm for Traction Control System on split friction and slope road

A Traction Control System (TCS) is used to avoid excessive wheel-slip via adjusting active brake pressure and engine torque when vehicle starts fiercely. The split friction and slope of the road are complicated conditions for TCS. Once operated under these conditions, the traction control performance of the vehicle might be deteriorated and the vehicle might lack drive capability or lose lateral stability, if the regulated active brake pressure and engine torque can’t match up promptly and effectively. In order to solve this problem, a novel coordinated algorithm for TCS is brought forward. Firstly, two brake controllers, including a basic controller based on the friction difference between the two drive wheels for compensating this difference and a fuzzy logic controller for assisting the engine torque controller to adjust wheel-slip, are presented for brake control together. And then two engine torque controllers, containing a basic PID controller for wheel-slip control and a fuzzy logic controller for compensating torque needed by the road slope, are built for engine torque control together. Due to the simultaneous and accurate coordination of the two regulated variables the controlled vehicle can start smoothly. The vehicle test and simulation results on various road conditions have testified that the proposed method is effective and robust.     

Engine performance powered by a mixture of hydrogen and oxygen fuel obtained from water electrolysis

In this work, the performance of an SI engine powered with both gasoline and HHO as supplement fuel was studied and compared with pure gasoline-fuelled engine. The amount of HHO gas quantities added was 1, 1.5, and 2 LPM. The engine speed was varied from 1350 to 2250 rpm. The performance was found by measuring the engine torque, the brake power, the brake specific fuel consumption and the thermal efficiency, while gas analyzer was used to measure the amounts of nitrogen oxides and carbon dioxide that are emitted from the engine during operation. It was found that the engine performance was best when 2 LPM HHO gas was used with pure gasoline fuel. Further, it was found that, at high amount of HHO gas addition, the nitrogen oxide decreases. Further, the CO level increased when using HHO gas as supplement fuel.     

Robust design optimization of frontal structures for minimizing injury risks of Flex Pedestrian Legform Impactor

The Flexible Pedestrian Legform Impactor (Flex-PLI) consisting of a flexible femur and tibia will be tested for pedestrian protection by Euro NCAP within the next couple of years as a potential replacement for the Transport Research Laboratory (TRL) legform impactor. The injury risks that are measured when using Flex-PLI are the elongation of the anterior/posterior cruciate ligament (A/PCL), elongation of the medial collateral ligament (MCL), and tibia bending moment (TBM). In this study, we used a correlated computer-aided engineering (CAE) model to conduct a contribution analysis of each injury with regard to the changes in the location of the frontal structures based on the results of a design of experiments (DOE) and analysis of variance (ANOVA). The frontal structures that were selected as control factors were the energy absorber (EA), lower bumper stiffener (LBS), and hood angle. A kriging interpolation model was developed using the DOE results, and its results were compared with those of the CAE model. Furthermore, for robust design optimization, the speed and height of Flex-PLI were used as the noise factors. Finally, a robust design optimization was carried out using the optimal combination of the discrete control factors for minimizing MCL elongation.     

Worst-case scenario development based on Sine with Dwell test and evaluation for vehicle dynamics controller in UCC HILS

The current test methods are insufficient to evaluate and ensure the safety and reliability of vehicle systems for all possible dynamic situations, including the worst case scenarios such as rollover, spin-out and so on. Although the known NHTSA Sine with Dwell steering maneuvers have been applied for the vehicle performance assessment, they are not enough to estimate other possible worst case scenarios. Therefore, it is crucial for us to verify the various worst case scenarios, including the existing severe steering maneuvers. This paper includes useful worst case scenarios based upon the existing worst case scenarios mentioned above and worst case evaluation for the vehicle dynamic controller in a simulation basis and UCC HILS. The only human steering angle was selected as a design parameter here and optimized to maximize the index function to be expressed in terms of both yaw rate and side slip angle. The obtained scenarios were enough to generate the worst case scenario to meet NHTSA worst case definition. It has been concluded that the new procedure in this paper is adequate to create other feasible worst case scenarios for a vehicle dynamic control system.     

Dynamic analysis of seatbelt systems with anti-inertial release mechanisms

In order to prevent the uncontrolled release of seatbelt buckles due to high acceleration caused by pretensioners, anti-g buckles that have pendulum-shaped g-masses to block the releasing motion are commonly adopted in seatbelt systems. However, even with the wide applications of anti-g buckles, the underlying operational principles of anti-g buckles have yet to be investigated. This work studies conditions for the engagement of the g-mass to prevent inertial release, and conditions for maintaining a blocked state under very high acceleration. Using a multibody model of an anti-g buckle, the effects of various design parameters on the performance of the anti-g buckle have been examined. It turns out that design variables associated with the geometry of the g-mass and its contacting surface configuration play important roles. In order to account for the dynamic interaction between driver and seatbelt, a multibody model of a seatbelt system is combined with a dummy model to form a single dynamic system. Using the measured displacement of the buckle during the explosion of a pretensioner as the driving condition for simulation, dynamic analysis of the seatbelt with driver interaction has been carried out. Through comparison with measured and computed accelerations of webbing, which shows good agreement, the validity of the model has been demonstrated. The dynamic model for seatbelt and driver can be used as a design tool for the development of anti-g buckles.