Recursive least squares with forgetting for online estimation of vehicle mass and road grade: theory and experiments

Good estimates of vehicle mass and road grade are important in automation of heavy duty vehicles, vehicle following manoeuvres or traditional powertrain control schemes. Recursive least square (RLS) with multiple forgetting factors accounts for different rates of change for different parameters and thus, enables simultaneous estimation of the time-varying grade and the piece-wise constant mass. An ad hoc modification of the update law for the gain in the RLS scheme is proposed and used in simulation and experiments. We demonstrate that the proposed scheme estimates mass within 5% of its actual value and tracks grade with good accuracy provided that inputs are persistently exciting. The experimental setups, signals, their source and their accuracy are discussed. Issues like lack of persistent excitations in certain parts of the run or difficulties of parameter tracking during gear shift are explained and suggestions to bypass these problems are made.     

Pragmatic Tyre Model for Short Wavelength Side Slip Variations

The first-order relaxation length concept is often used to model transient tyre behaviour. It gives a rather good representation of the lateral force response, also at shorter wavelengths. The self aligning moment appears to behave rather differently and its responses cannot be represented by a relaxation length system only. Based on the analytical frequency response functions of the pneumatic trail of the brush type tyre model, a new pragmatic approach is developed. The model consists of a phase leading system in series with the first-order model for the lateral force. The results are compared to the responses of a discrete brush type simulation model. It appears that the aligning moment can be represented by this new pragmatic model very well.     

Distributions of queue lengths at fixed time traffic signals

This paper presents a new model which studies probability distributions of queue lengths at fixed time traffic signals. It extends Haight's model for Poisson arrivals that the arrival distribution during the effective red period is general and the headway between two successive departures is not less than the minimum departure headway. Moreover, the probability generating function of the queue length, at the end of the effective red period, is derived. The probabilities of the queue lengths, at the ends of the effective green, actual red and amber periods, are also obtained. Comparison is made with Haight's model. Finally a case study for the proposed model is reported.     

Non-linearities in Road Vehicle Dynamics

In the study of lateral vehicle dynamics with the objective to enhance stability and handling qualities, non-linear aspects may have to be included to cover also larger lateral accelerations and amplitudes. The paper treats whole vehicle motions and relative motions of vehicle subsystems. In particular, single car stability, also in the large, is discussed as well as the shimmy phenomenon and the car-trailer instability.     

Determination of coal-discharging port dimensions from a shipping point of view

In this paper, the authors examine, in the contest of the enormous expansion of the world coal trade following the Oil Crisis of 1973, the optimal size of coal-discharging terminals. The calculations were based on three shipping-related considerations" the structure of current (and future) coal-carrying vessels; the present size of the world's major coal-loading terminals and their plans for expansion; and the costs of transportation for the various vessel sizes, and constraints in sea-routes. Port-related elements, such as the cost of actual construction etc., were not included in the study. They conclude that the maximum size of a coal carrier is limited by the ability of ports to accommodate it, and that few ports can economically accomodate vessels larger than 150000 dwt. On the other side, vessels of larger than 150000 dwt operate under a number of constraints, meaning in the final analysis, that ports should aim to cater for vessels of around 1500000 dwt and so plan accordingly.     

The impact of oil supply bases on the economy of Shetland

In this paper the effects on the economic output, income and employment relating to Shetland are considered using an input—output model. The results are presented on the basis of an individual industry and appropriate multipliers are derived.     

Ride Quality and Dynamics of Rail Vehicle Models for Microcomputers

This paper describes mathematical and computer models for ride quality and dynamics of rail vehicles developed for running on personal computers. The purpose of the computer simulations is for prediction of ride quality in order to study the dynamic stability of the system and the effect of track quality and irregularities on ride quality.

In deriving the equations of motion for dynamic stability, the tangential forces acting on the contact areas between the wheels and rails are of fundamental importance in railway vehicles dynamics and are included in the analysis [1]. These forces are due to the creep phenomenon between the wheel and the rail on which it is rolling. Track irregularities are defined in terms of four components consisting of gauge, cross level, alignment and vertical surface profile [2]. Relation of allowable track irregularities versus speed is given by the FRA Track Safety Standards. Analytical representation of track irregularities should include both PSD (Power Spectral Density) for CWR (Continuous Welded Rail) as well as discrete inputs from track joints.

In this paper, the rail vehicle suspension analysis and dynamics mathematical and computer models are described. The computer models are written in Fortran 77 and designed to run on personal computer. The paper also discusses programming considerations that must be taken into account when programming for microcomputers under DOS (IBM's Disk Operating System) and MS or RM Fortran Compilers. Most of the considerations are however, valid in general with respect to engineering software development and programming for microcomputers.

Computer graphics is a powerful tool for visualization of the resulting solutions such as the display of the characteristic roots for the eigenvalues solution on a root locus plot and representation of acceleration levels versus the “Reduced Comfort Boundary” limits defined by the International Standards Organization” (ISO 2631-1985). In this paper some examples of these resulting outputs are presented and their significance discussed.     

Fatigue analysis for a multi-lap spot welded joint of high strength steel using quasi static tensile-shear test

The welding quality of spot weldment is an important factor that significantly affects the strength, stiffness, safety, and other performance characteristics of vehicles. Therefore, quality control and fatigue life evaluation of spot weldment are necessary processes. This paper presents a method for determining the fatigue life of multi-lap spot weldment of a high strength steel sheet. In this method, the fatigue life is estimated using the lethargy coefficient, which is the total defect coefficient according to rupture stress and time obtained by the quasi static tensile-shear test. The DC potential drop method was used to check initiation and propagation of cracks in addition to the test. Also, in this study, we modified the lethargy coefficient by using the welding current. Furthermore, we define a specific lapping constant, which is a characteristic constant of 2 or 3 lap weldments. The fatigue life obtained by the fatigue estimate equation, which contains a specific lapping constant was compared and verified with an experimental value. Finally we analyzed the relation of lap number, welding current and fatigue life. This method can save processing time and cost for predicting the life cycle of a structure.