Robust cascade control for the horizontal motion of a vehicle with single-wheel actuators

The article presents a cascade control for the horizontal motion of a vehicle with single-wheel actuators. The outer control loop for the longitudinal and lateral accelerations and the yaw rate ensures a desired vehicle motion. By a combination of state feedback control and observer-based disturbance feedforward the inner control loop robustly stabilises the rotating and steering motions of the wheels in spite of unknown frictions between tyres and ground. Since the three degrees of freedom of the horizontal motion are affected by eight tyre forces, the vehicle considered is an over-actuated system. Thus additional control objectives can be realised besides the desired motion trajectory as, for example, a maximum in driving safety. The corresponding analytical tyre force allocation also guarantees real-time capability because of its relatively low computational effort. Provided suitable fault detection and isolation are available, the proposed cascade control has the potential of fault-tolerance, because the force allocation is adaptable. Another benefit results from the modular control structure, because it allows a stepwise implementation. Besides, it only requires a small number of measurements for control purposes. These measurements are the rotational speeds and steering angles of the wheels, the longitudinal and lateral acceleration and the yaw rate of the vehicle.     

A novel fuzzy logic correctional algorithm for traction control systems on uneven low-friction road conditions

The traction control system (TCS) might prevent excessive skid of the driving wheels so as to enhance the driving performance and direction stability of the vehicle. But if driven on an uneven low-friction road, the vehicle body often vibrates severely due to the drastic fluctuations of driving wheels, and then the vehicle comfort might be reduced greatly. The vibrations could be hardly removed with traditional drive-slip control logic of the TCS. In this paper, a novel fuzzy logic controller has been brought forward, in which the vibration signals of the driving wheels are adopted as new controlled variables, and then the engine torque and the active brake pressure might be coordinately re-adjusted besides the basic logic of a traditional TCS. In the proposed controller, an adjustable engine torque and pressure compensation loop are adopted to constrain the drastic vehicle vibration. Thus, the wheel driving slips and the vibration degrees might be adjusted synchronously and effectively. The simulation results and the real vehicle tests validated that the proposed algorithm is effective and adaptable for a complicated uneven low-friction road.     

Coupled vibration analysis of Maglev vehicle-guideway while standing still or moving at low speeds

Dynamic instability, that is, resonance, may occur on an electromagnetic suspension-type Maglev that runs over the elevated guideway, particularly at very low speeds, due to the flexibility of the guideway. An analysis of the dynamic interaction between the vehicle and guideway is required at the design stage to investigate such instability, setting slender guideway in design direction for reducing construction costs. In addition, it is essential to design an effective control algorithm to solve the problem of instability. In this article, a more detailed model for the dynamic interaction of vehicle/guideway is proposed. The proposed model incorporates a 3D full vehicle model based on virtual prototyping, flexible guideway by a modal superposition method and levitation electromagnets including feedback controller into an integrated model. By applying the proposed model to an urban Maglev vehicle newly developed for commercial application, an analysis of the instability phenomenon and an investigation of air gap control performance are carried out through a simulation.     

Real-time model predictive control of connected electric vehicles

ABSTRACT

Electric Vehicles (EVs) motors develop high torque at low speeds, resulting in a high rate of acceleration with the added advantage of being fitted with smaller gearboxes. However, a rapid rise of torque in EVs fitted with central drive powertrains can create undesired torsional oscillations, which are influenced by wheel slip and flexibility in the halfshaft. These torsional oscillations in the halfshaft lead to longitudinal oscillations in the vehicle, thus creating problems with regard to comfort and drivability. The significance of using wheel slip in addition to halfshaft torsion for design of anti-jerk controllers for EVs has already been highlighted in our previous research. In this research, we have designed a look-ahead model predictive controller (LA-MPC) that calculates the required motor torque demand to meet the dual objectives of increased traction and anti-jerk control. The designed LA-MPC will improve drivability and energy consumption in connected EVs. The real-time capability of the LA-MPC has been demonstrated through hardware-in-the-loop experiments. The performance of the LA-MPC has been compared to other controllers presented in the literature. A validated high-fidelity longitudinal-dynamics model of the Rav4EV, which is the test vehicle of our research has been used to evaluate the controller.     

基于计算机自动控制技术的多探头测深系统研制与改造

通过加装控制盒的方式,实现单探头测深仪与自动控制探头之间的流畅切换,将传统单探头测深仪改造成具有多探头功能的高效水下测量仪器系统,主要用于航道和码头基床等的水下扫测。利用该系统进行的码头基床扫测已经取得成功,可为同类测量设备的改造提供全新的思路。     

基于CBTC控制的全自动驾驶系统

主要介绍全自动驾驶(FAO)系统的发展和应用情况、系统的组成和特点,并提出引进采用该系统需要注意的问题。     

关于气动系统在汽车工装夹具上的应用探讨

本文基于汽车车身工装夹具基础内容展开分析,结合气动系统的基础组成和应用特征.通过研究气缸的应用、控制阀应用、气动三联件、管路应用、消声器应用等内容.其目在于明确气动系统的应用要点,为后续应用体系的完善奠定基础.     

海安双线船闸施工监测与分析

通过对海安双线船闸闸首施工过程中结构受力敏感部位和关键点的控制指标进行监测,保证施工的安全性,检查施工过程的合理性。监测结果表明：双线施工及底板分块施工对该块影响较大,对其他施工块的影响很小,底板下地基应力、底板沉降和结构应力随时间总体变化趋势相似。施工过程中,结构应力维持在较小范围内,满足规范和施工要求。     

区级海绵城市建设规划中指标管控方法探讨

针对区级海绵城市建设规划中管控单元划分和指标分解等关键环节,提出最小管控单元和管控指标源头-系统两级分解体系.上海市虹口区的案例表明,最小管控单元可有效衔接源头地块、控规单元和排水系统,管控指标源头-系统两级分解体系可有效体现系统性工程在海绵指标中的贡献,合理减轻源头项目的达标压力.     

升压式开关直流调压器的不变性控制法

本文提出并分析了升压式开关直流调压器的一种不变性控制方法，它允许电源电压和负载电流在一定范围内变化而不影响输出电压值，而且该调压器的工作频率恒定。文中还给出了范例计算的结果。