Search results for "Vehicle dynamics"
showing 10 items of 41 documents
Robust energy-to-peak sideslip angle estimation with applications to ground vehicles
2015
Abstract In this paper, the observer design problem for the sideslip angle of ground vehicles is investigated. The sideslip angle is an important signal for the vehicle lateral stability, which is not measurable by using an affordable physical sensor. Therefore, we aim to estimate the sideslip angle with the yaw rate measurements by employing the vehicle dynamics. The nonlinear lateral dynamics is modeled firstly. As the tyre model is nonlinear and the road adhesive coefficient is subject to a large variation, the nonlinear lateral dynamics is transformed into an uncertain model. Considering the variation of longitudinal velocity, an uncertain linear-parameter-varying (LPV) system is obtain…
Dynamic Modeling and Driving Cycle Prediction for a Racing Series Hybrid Car
2014
International audience; This paper presents Noao, a plug-in series hybrid racing car equipped with an engine/generator set as range extender. To determine the velocity profile, i.e., performance of the car and its power profile, a dynamic model for this car is developed using pedal position as input. This value is easy to measure, representative for race cycles, and presents a novelty. The model is validated with the results from experiments. An analysis based on the map of Magny-Cours racing circuit and drivers pedal action on certain zones of the circuit is formulated and is used as a prediction tool to determine drivers inputs on other racing circuits and generate driving schedules. The …
Virtual Vehicles Manager: a java virtual reality environment for distributed multi vehicles dynamics control and simulation
2007
This paper describes a lightweight, full portable software environment for development, simulation and control of vehicles. All the software is developed in Java so there are many advantages as portability, multithreading distribution etc. This environment simulates the vehicles integrating their non-linear differential equation systems. The equation systems can easily be modified changing that representation class so it is easy to manage different vehicles. The scenario is displayed as a 3D virtual reality environment in which all the objects are rendered using a combination of 3 d primitive. It is also possible the use of pre-built 3 d objects loaded from files in 3 ds format. The softwar…
A New Environment for Distributed Multiple Vehicles Dynamics Control and Simulation
2007
Although there are many simulation softwares, the 3D multi-vehicle field needs further study. This paper describes a lightweight, full portable software environment for development, simulation and control of vehicles. This environment simulates ground wheeled vehicles and their environment. Multi vehicle study can be done adding the vehicle mathematical model and the 3D graphical model. The scenario is displayed as a 3D virtual reality environment in which all the objects are rendered using a combination of 3D primitive and/or pre-built 3D objects loaded from file. Since the software is made up of a set of multi-treading object-oriented Java classes, there are many advantages as portability…
Hierarchical fuzzy/Lyapunov control for horizontal plane trajectory tracking of underactuated AUV
2010
A new hierarchical closed loop fuzzy control system for horizontal plane trajectory tracking of underactuated Autonomous Underwater Vehicles (AUV) is presented. A model for the AUV is formulated introducing a polar coordinates transformation for the velocities in the body fixed frame. It is employed to control the unactuated sway direction, the longitudinal position and the yaw by using the surge force and the yaw torque only. The highest level control is developed by employing a fuzzy inference system for obtaining the guidance control laws. The properties of the fuzzy system ensure forward surge velocity, fast convergence and Lyapunov's stability of the motion errors. A new low level kine…
Predictive Intelligent Fuzzy Control for Cooperative Motion of Two Nonholonomic Wheeled Cars
2007
In this paper a problem of intelligent cooperative motion control of two wheeled nonholonomic cars (target and follower) is considered. Once a target car converges to a fixed state (position and orientation), a follower car coming from different position and orientation, converges to the state above, without excessive delay between the known arrival time of the target car and the arrival time of the follower. In this sense we present a new predictive fuzzy control system. A Kalman's filter and an odometric model are used to predict the future position and orientation of the target car. The prediction above is employed to plane a circular nonholonomic reference motion for the follower car. A…
Optimal Integration of Hybrid Supercapacitor and IPT System for a Free-Catenary Tramway
2019
The aim of the paper is the study of an optimal integration of a supercapacitor-based storage system and inductive power transfer system for the free-catenary operation of a tramway. Starting from the definition of the topology of inductive power transfer system, we propose and analyze a design procedure for the pads of the inductive power system. In the second part of the paper, an optimal integration strategy for the correct size of on-board supercapacitors and the power of the inductive energy transfer are proposed. The results obtained by means of numerical simulations are discussed. © 2018 IEEE.
Modeling and field-experiments identification of vertical dynamics of vehicle with active anti-roll bar
2020
This paper deals with modeling and identification of vertical dynamics of the ground vehicle equipped with two active anti-roll torsion bars. A series of field tests of a full-scale drive have been performed, from which multiple displacement and acceleration data of the unsprung and sprung masses have been collected for each vehicle corner. The standard full vertical vehicle model is extended by the developed model of an active anti-roll torsion bar and valve-controlled semi-active shock absorbing damper. Along with the three-dimensional damping map, the nonlinear progressive stiffness of the elastomer-based decoupling unit are identified from the available data. The multi-channel and multi…
Robust fault tolerant tracking controller design for vehicle dynamics: A descriptor approach
2015
Abstract In this paper, an active Fault Tolerant Tracking Controller (FTTC) scheme dedicated to vehicle dynamics system is proposed. To address the challenging problem, an uncertain dynamic model of the vehicle is firstly developed, by considering the lateral forces nonlinearities as a Takagi–Sugeno (TS) representation, the sideslip angle as unmeasurable premise variables and the road bank angle as an unknown input. Subsequently, the vehicle dynamic states with the sensor faults are jointly estimated by a descriptor observer on the basis of the roll rate and the steering angle measures. Then a fault tolerant tracking controller is synthesized and solutions are proposed in terms of Linear Ma…
Data-based modeling of vehicle collision by LPV-ARMAX model approach
2013
Vehicle crash are considered to be events with high complexity from the mathematical points of view. The high experiment cost and huge time-consumption make the establishment of a mathematical model of vehicle crash which can simplify the analysis process in great demand. In this work, we present the application of LPV-ARMAX model to simulate the car-to-pole collision with different initial impact velocities. The parameters of the LPV-ARMAX are assumed to be functions of the initial impact velocities. Instead of establishing a set of LTI models for vehicle crashes with various impact velocities, the LPV-ARMAX model is comparatively simple and applicable to predict the responses of new colli…