Preview Control Algorithms for the Active Suspension of an Off-Road Vehicle

The potential performance improvement using preview control for active vehicle suspension was first recognized in the late nineteen sixties. All work done since that time has been based on optimal control theory using simple vehicle models.

In this article, the performance of quarter vehicle preview controllers when applied to a real off-road vehicle is simulated using both two degree of freedom quarter and ten degree of freedom full vehicle models. The results, which are compared with non-preview active and conventional passive suspensions, confirm that preview control reduces vertical acceleration of the body centre of gravity, which results in improved ride quality. Further, reductions in pitch and roll motion result from smaller vertical displacements of the vehicle quarters. Coupling between quarters, through the vehicle body, appears to have a smoothing effect on the control.

As an alternative to optimal control theory based controllers, a simple ad hoc preview controller based on isolating the vehicle body from dynamic loads transmitted through the suspension is proposed. Simulation results show that such a controller outperforms the optimal control theory based controllers over small discrete disturbances but responds poorly to disturbances encountered from other than steady state.     

Discrete Adaptive Active Suspension for Hardware Implementation

This paper presents a discrete adaptive control approach for an active suspension. The study involves formulation of an active suspension as a digital controller problem involving the time delays. A nonlinear time varying (NTV), single input single output (SISO) suspension model is considered for the analysis. A discrete model reference adaptive control (DMRAC) approach with recursive least square (RLS) estimation is used to form the controller. The controller is designed to maintain the static equilibrium irrespective of dynamic load variations as a disturbance force on the model. Simulation results for deterministic and stochastic inputs are presented to substantiate the approach. Results indicate good performance of adaptive controller even for large dynamic variations of the model and has the potential for a successful hardware implementation.     

Structural Evaluation for Maputo Airport Pavement

Introduction Structural evaluation of pavements provides awealth of information that concerns the expected be-havior of pavements[1]. Different asphalt pavementdesign and evaluation methods are described inRefs.[2-9]. Refs.[2-5,9,10] use two design meth-o…     

Role of filtering and biodeposition by Adamussium colbecki in circulation of organic matter in Terra Nova Bay (Ross Sea, Antarctica)

At Terra Nova Bay, the scallop Adamussium colbecki (Smith, 1902) characterises the soft and hard bottoms from 20 to 80 m depth, constituting large beds and reaching high values of density (50–60 individuals/m²) and biomass (120 g/m² DW soft tissues). To assess its role in the organic matter recycling in the coastal ecosystem, its filtering and biodeposition rates were evaluated in laboratory experiments during the austral summer 1993/94. Filtration rates, measured in a flow-through system, were calculated from the difference in particulate organic carbon (POC), nitrogen (PON) and chlorophyll-a (Chl-a) concentration in inflow and outflow water. Experiments were performed using natural sea water with POC, PON and Chl-a concentrations of about 450 μg/l, 90 μg/l and 2 μg/l, respectively. The biodeposition rate and the biochemical composition of the biodeposits were studied in order to detect how the organic matter is transformed through feeding activity of A. colbecki. At +1°C temperature, the average filtering rate was about 1 l h⁻¹ g⁻¹ (DW soft tissues) in specimens ranging in body mass from 2 to 3 g (DW soft tissues) and 6–7 cm long. The biodeposition rate in 3–8 cm long specimens, ranging from 0.4 to 5.7 g (DW soft tissues), was about 5.65 mg DW/g DW/day, leading to an estimate of Corg flux, through biodeposition by A. colbecki, of about 21 mg C m⁻² day⁻¹ at in situ conditions. Comparison between the biochemical composition of seston and biodeposits shows a decrease of the labile compounds, of the Chl-a/phaeopigments ratio in the biodeposits. The recorded C/N ratio decrease suggests a microbial colonisation in the biodeposits. This study suggests that Adamussium colbecki plays an important role in coupling the material fluxes from the water column to the sea bed, processing about 14% of total Carbon flux from the water column to the sediments, with an assimilation efficiency of 36%.     

Management of coastal eutrophication: Integration of field data, ecosystem-scale simulations and screening models

A hybrid approach for eutrophication assessment in estuarine and coastal ecosystems is presented. The ASSETS screening model (http://www.eutro.org) classifies eutrophication status into five classes: High (better), Good, Moderate, Poor and Bad (worse). This model was applied to a dataset from a shallow coastal barrier island system in southwest Europe (Ria Formosa), with a resulting score of Good. A detailed dynamic model was developed for this ecosystem, and the outputs were used to drive the screening model. Four scenarios were run on the research model: pristine, standard (simulates present loading), half and double the current nutrient loading. The Ria Formosa has a short water residence time and eutrophication symptoms are not apparent in the water column. However, benthic symptoms are expressed as excessive macroalgal growth and strong dissolved oxygen fluctuations in the tide pools. The standard simulation results showed an ASSETS grade identical to the field data application. The application of the screening model to the other scenario outputs showed the responsiveness of ASSETS to changes in pressure, state and response, scoring a grade of High under pristine conditions, Good for half the standard scenario and Moderate for double the present loadings. The use of this hybrid approach allows managers to test the outcome of measures against a set of well-defined metrics for the evaluation of state. It additionally provides a way of testing and improving the pressure component of ASSETS. Sensitivity analysis revealed that sub-sampling the output of the research model at a monthly scale, typical for the acquisition of field data, may significantly affect the outcome of the screening model, by overlooking extreme events such as occasional night-time anoxia in tide pools.     

Blast loaded plates

Plates form one of the basic elements of structures. Land-based structures may be subjected to air blast loads during combat environment or terrorist attack, while marine structures may be subjected to either air blast by the attack of a missile above the water surface or an underwater explosion by the attack of a torpedo or a mine or a depth charge and an aircraft structure may be subjected to an in-flight attack by on-board explosive devices. Furthermore, gas explosion occurs in offshore installations and industries. This review focuses on the phenomenological evolution of blast damage of plates.     

Short sea shipping: a Canadian perspective

Short sea shipping has begun to receive attention from governments worldwide, as they seek to reduce traffic congestion and greenhouse gases. Despite a long coastline and its interest in international maritime affairs, the Canadian government had, until 2003, placed greater emphasis on resolving the issues of other transport modes. In July 2003, Canada and the United States signed a Memorandum of Cooperation on Sharing Short Sea Shipping Information and Experience. Subsequently, the federal government embarked on an assessment of short sea shipping through a series of workshops. This paper explores the key issues with respect to further development of short sea shipping from a Canadian perspective. It examines the critical limitations and impediments to further growth of short sea services in Canada and trans-border trade with the USA, and identifies a number of questions Canadian policymakers need to answer.     

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.     

Optimal Active Suspension Design Using a Frequency-shaping PID Filter

By the incorporation of frequency-shaping into the linear quadratic methods used in active suspension design it is possible to achieve improvements in both body frequency response and road-holding. The use of a PID filter for this purpose also leads to robustness of the system to disturbance forces. Zero steady-state deflections are achieved for applied body loads by the integral action with excellent attenuation of the transient response. The resulting system consists of a hydraulic actuator in parallel with a body spring of arbitrary stiffness and is optimal with equivalent full state feedback.