Emergency Control of Vehicle Platoons: Control of Following-Law Vehicles

1976 ◽  
Vol 98 (3) ◽  
pp. 239-244 ◽  
Author(s):  
R. J. Rouse ◽  
L. L. Hoberock
Keyword(s):  
Emergency Operation ◽  
Dynamical Analysis ◽  
Normal Operation ◽  
Target Velocity ◽  
Longitudinal Control ◽  
Emergency Control ◽  
Vehicle System ◽  
Design Speed ◽  
Vehicle Platoons

This work presents a dynamical analysis of platooned following-law vehicles under longitudinal control proposed in [1]. It is shown that controller gains selected for normal operation give inadequate performance in emergency operation. Dangerous spacing in platoons moving at lower than design speed and delayed target velocity update effects are investigated. Stability of the vehicle system in emergency operation is related to controller gains, and simulations for various emergency contingencies are presented.

Emergency Control of Vehicle Platoons: System Operation and Platoon Leader Control

1976 ◽  
Vol 98 (3) ◽  
pp. 245-251 ◽  
Author(s):  
L. L. Hoberock ◽  
R. J. Rouse
Keyword(s):  
Discrete Control ◽  
Normal Operation ◽  
Emergency Control ◽  
Car Following ◽  
Stopping Distance ◽  
Preceding Vehicle ◽  
Control Concept ◽  
Modified Block ◽  
Vehicle Platoons ◽  
Vehicle Capacity

In the work herein and in [1], an automatic control concept is developed for both normal and emergency longitudinal regulation of high density strings of vehicles with velocities in the range 50 to 90 mph (80 to 144 km/hr). Under this concept, a vehicle string is formed into platoons of vehicles, the lead vehicles of which are governed by wayside-mounted controllers. Excluding platoon leaders, vehicles are controlled by on-board controllers, termed car-following or following-law controllers, which continuously regulate vehicle spacing and velocity with respect to the preceding vehicle, and velocity with respect to an external, desired velocity. Wayside controllers, which communicate with vehicles only when they cross discrete control points along the guideway, provide “modified block control” of lead vehicles, maintaining a safe stopping distance such that collisions under an instantaneous stop cannot occur between vehicles of separate platoons. The proposed control appears suitable for realistic guideway conditions and provides flexibility in performance tradeoffs among wayside hardware, safety, nominal guideway line speed, and guideway vehicle capacity. Spaces generated between platoons under normal operation afford capability for merging from off-line queues.

Evolving Model for Studying Driver-Vehicle System Performance in Longitudinal Control of Headway

1998 ◽  
Vol 1631 (1) ◽  
pp. 13-19 ◽  
Author(s):  
Paul S. Fancher ◽  
Zevi Bareket
Keyword(s):  
Rate Of Change ◽  
Time Range ◽  
Longitudinal Control ◽  
Functional Relationships ◽  
Vehicle System ◽  
Range Rate ◽  
Evolving Model ◽  
Vehicle Dynamics Control ◽  
Parameter Values ◽  
Human Factors Research

A model for studying and evaluating the performance of drivers in controlling headway situations is currently being used to better understand how a driver’s perception of headway range and its rate of change in time (range rate) influence the performance of the driver-vehicle system in freeway driving situations. The model is based upon ideas derived from vehicle dynamics, control theory, and human factors research. It is an interpretive model in the sense that results obtained during real driving are processed to evaluate the parameter values and functional relationships used in the model. In this way, the model evolves as new data and information become available and as calculated results are interpreted and understood.

scholarly journals Demand Side Management Effects on Substation Transformer Capacity Limits

2019 ◽  
Vol 9 (16) ◽  
pp. 3266 ◽  
Author(s):  
Kerry D. McBee ◽  
Jacquelyn Chong ◽  
Prasanth Rudraraju
Keyword(s):  
High Harmonic ◽  
Emergency Operation ◽  
Demand Side Management ◽  
Normal Operation ◽  
Demand Side ◽  
Load Profile ◽  
Capacity Limits ◽  
Pv Systems ◽  
Ieee Standards

In high penetrations, demand side management (DMS) applications augment a substation power transformer’s load profile, which can ultimately affect the unit’s capacity limits. Energy storage (ES) applications reduce the evening peaking demand, while time-of-use rates incentivize end-users to charge electric vehicles overnight. The daily load profile is further augmented by high penetrations of photovoltaic (PV) systems, which reduce the midday demand. The resulting load profile exhibits a more flattened characteristic when compared to the historical cyclic profile. Although the initial impact of PV and ES applications may reduce a unit’s peak demand, long-term system planning and emergency conditions may require operation near or above the nameplate rating. Researchers have already determined that a flattened load profile excessively ages a unit’s dielectrics more rapidly. The focus of this research was to identify an approach for establishing new transformer capacity limits for units serving flattened load profiles with a high harmonic content. The analysis utilizes IEEE standards C57.91 and C57.110 to develop an aging model of a 50 MVA SPX Waukesha transformer. The results establish a guideline for determining transformer capacity limits for normal operation, long-term emergency operation, and short-term emergency operation when serving systems with high penetrations of DSM applications.

Design criteria for conceptual sizing of primary flight controls

2004 ◽  
Vol 108 (1090) ◽  
pp. 629-641 ◽  
Author(s):  
A. J. Steer
Keyword(s):  
Quality Criteria ◽  
Emergency Operation ◽  
Operating Conditions ◽  
Control Surface ◽  
Normal Operation ◽  
Civil Aviation ◽  
Design Criteria ◽  
Bank Angle ◽  
Control Power ◽  
Engine Failure

Abstract The European Supersonic Commercial Transport’s control surface configuration is based largely on Concorde’s and has been scaled to provide comparable un-augmented stability and manoeuvre performance. Hence, optimising the surface size could provide significant performance benefits in terms of reduced drag, noise, structural and actuator power requirements. Adequate control power will be required to meet current civil aviation regulations whose primary aim is to ensure the aircraft can be flown safely during both normal and emergency operation. Additional design criteria, combined with the optimum longitudinal control laws, are required to ensure desirable handling qualities with minimum pilot workload. Two critical low-speed flight conditions, normal and emergency, together with associated aircraft configurations for control surface sizing have been identified. The rudder must provide sufficient control power to achieve positive heading changes subsequent to a double asymmetric engine failure during normal operation. The fin should be sized to satisfy Dutch roll stability criteria with the un-augmented aircraft in its emergency configuration. The dual functionality of the elevons require that they are sized using both pitch and roll performance and handling quality criteria. The bank angle capture requirement provides the most critical elevon design case, the satisfaction of which also ensures adequate pitch control power. Validation using ‘pilot-in-the-loop’ simulation will be required whilst more explicit control surface size optimisation would require the definition of limiting airspeeds and operating conditions applicable to the European Supersonic Commercial Transport. Additional studies of control power requirements during transonic and supersonic cruise may also be required.

scholarly journals Dynamical Analysis of a Navigation Algorithm

Mathematics ◽  
2021 ◽  
Vol 9 (23) ◽  
pp. 3139
Author(s):  
Mireya Cabezas-Olivenza ◽  
Ekaitz Zulueta ◽  
Ander Sánchez-Chica ◽  
Adrian Teso-Fz-Betoño ◽  
Unai Fernandez-Gamiz
Keyword(s):  
Lyapunov Method ◽  
Autonomous Vehicle ◽  
Artificial Vision ◽  
Dynamical Analysis ◽  
Longitudinal Control ◽  
Navigation Algorithm ◽  
Localization And Mapping ◽  
Navigation Algorithms ◽  
The Stability ◽  
Adequate Reliability

There is presently a need for more robust navigation algorithms for autonomous industrial vehicles. These have reasonably guaranteed the adequate reliability of the navigation. In the current work, the stability of a modified algorithm for collision-free guiding of this type of vehicle is ensured. A lateral control and a longitudinal control are implemented. To demonstrate their viability, a stability analysis employing the Lyapunov method is carried out. In addition, this mathematical analysis enables the constants of the designed algorithm to be determined. In conjunction with the navigation algorithm, the present work satisfactorily solves the localization problem, also known as simultaneous localization and mapping (SLAM). Simultaneously, a convolutional neural network is managed, which is used to calculate the trajectory to be followed by the AGV, by implementing the artificial vision. The use of neural networks for image processing is considered to constitute the most robust and flexible method for realising a navigation algorithm. In this way, the autonomous vehicle is provided with considerable autonomy. It can be regarded that the designed algorithm is adequate, being able to trace any type of path.

scholarly journals Research on emergency control mode of sluice gates in water delivery canal

2018 ◽  
Vol 246 ◽  
pp. 01005
Author(s):  
Yan-hua Nie ◽  
Ling-min Liao ◽  
Guo-bing Huang
Keyword(s):  
Control Theory ◽  
Operating Conditions ◽  
Water Diversion ◽  
Control Mode ◽  
Normal Operation ◽  
Water Delivery ◽  
Emergency Control ◽  
Economical Efficiency ◽  
Gate Control ◽  
Hydraulic Response

The regulation of sluice gates（control gates, dividing gates and exit sluices） in water delivery canal is very important and complicated especially in emergency conditions. Most of existing achievements are about canal control theory or based on normal operation condition, lack of researches about emergency joint dispatch under accident conditions and its internal mechanism. In this paper, a mathematical model for emergency dispatch of a long water delivery canal was established to study gate control modes. Some typical operating conditions were selected as study cases and some indicators which could affect safety and economical efficiency of project operation like water level, return water, gate action times were selected as measuring indices. The simulation calculations about different gate control modes of control gates and exit sluices（control speed, open and close time, action frequency, etc）were carried out, through changing gate group control modes to simulate disturbances in emergency regulating process, then track the unsteady flow hydraulic response of channel, analyze the variation of hydraulic parameter, ascertain the relationship between disturbances and channel hydraulic response, summarize the induction mechanism at last. The results can enrich canal gate emergency control theory and improve operation safety and economical efficiency. They can also provide scientific guidances for operation of water diversion projects to enhance emergency disposal ability, and it has strong academic and practical value.

scholarly journals Emergency Flight Control Based on the Fan Wing

2021 ◽  
Vol 2021 ◽  
pp. 1-9
Author(s):  
Lin Meng ◽  
Shuo Wang ◽  
Ye Chen ◽  
Yang Gao
Keyword(s):  
Control System ◽  
Flight Control ◽  
Control Method ◽  
Cross Flow ◽  
Flight Control System ◽  
Longitudinal Control ◽  
Emergency Control ◽  
Flight Mode ◽  
Pitch Moment ◽  
Cross Flow Fan

FanWing has been taken to the visual field because of its performance combination of fixed-wing aircraft and helicopter. Its flight mode is currently limited mainly by a remote control, while the research of automated flight control is on the rise. The fan wing could offer lift, thrust, and the additional pitch moment for longitudinal control. At the same time, the roll moment and the yaw moment can be generated by the differential rotation of the cross-flow fan to realize the lateral control. It provides the possibility for its emergency flight control when the aerodynamic control becomes inefficient at a low speed. The difficulties in designing the emergency control system in both the longitudinal and lateral controls are analyzed. And it emphasizes the importance of selecting its center of gravity and the emergency control method of longitudinal control in engineering. The simulation results show that as an emergency flight control system, fan wing control is feasible. The study of the fan wing control will provide a reference solution for its further engineering applications.

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