Analyzing the Robustness of Two-Scale Command Shaping for Reducing Powertrain Vibration During Engine Restart

2016 ◽  
Author(s):  
J. Justin Wilbanks ◽  
Michael J. Leamy
Keyword(s):  
Hybrid Electric Vehicle ◽  
Initial Conditions ◽  
Combustion Engine ◽  
Perturbation Technique ◽  
Successful Implementation ◽  
Time Varying ◽  
Command Shaping ◽  
System Parameters ◽  
And Performance ◽  
The Impact

This paper analyzes the robustness of a two-scale command shaping strategy for reducing vibrations in hybrid electric vehicle (HEV) powertrains during engine restart. Propagation of HEVs through the automobile market depends on their perceived quality and performance. In this work, a two-scale command shaping strategy addresses the drivability of the vehicle by focusing on the reduction of noise, vibration, and harshness (NVH) issues associated with restarting the internal combustion engine (ICE) during a mode transition. The strategy tailors the electric machine (EM) torque profile, which consists of a linear and time-varying component, to significantly mitigate the powertrain and chassis vibrations for a smoother ICE startup. The time-varying EM torque component is calculated by applying a perturbation technique for separating the scales of an analytical ICE model, which isolates the ICE nonlinear response. Command shaping is then applied to the linear problem governed by the remaining scale. Simulations confirm that the two-scale command shaping strategy is a straightforward technique for reducing powertrain and chassis vibrations during ICE restart. In real-time implementation, inaccuracies or variations in system parameters and initial conditions arising from the operating condition or from general wear during a vehicle’s life cycle will occur. Therefore, successful implementation of the two-scale command shaping strategy relies upon the robustness of the perturbation technique and command shaping to these variations. This paper validates the perturbation technique’s robustness to variations in the ICE parameters and initial conditions. Robust command shaping methods are also explored to decrease the impact of system parameter variations on the efficacy of command shaping. Improving the overall robustness of the two-scale command shaping strategy will increase the applicability to consumer HEVs by ensuring its performance under variations in system parameters.

Two-Scale Command Shaping for Reducing Powertrain Vibration During Engine Restart

2017 ◽  
Vol 139 (9) ◽  
Author(s):  
J. Justin Wilbanks ◽  
Michael J. Leamy
Keyword(s):  
Hybrid Electric Vehicle ◽  
Nonlinear Response ◽  
Linear Problem ◽  
Combustion Engine ◽  
Perturbation Technique ◽  
Time Varying ◽  
Power Sources ◽  
Command Shaping ◽  
Additional Costs ◽  
Ice Model

This paper introduces a two-scale command shaping strategy for reducing vibrations in conventional and hybrid electric vehicle (HEV) powertrains during engine restart. The approach introduces no additional system components and thus few additional costs. The torque profile from an electric machine (EM) is tailored to start the internal combustion engine (ICE) while minimizing residual vibrations. It is shown that the tailored EM torque profile, composed of a linear combination of constant and time-varying components, results in significant mitigation of powertrain vibrations and smoother ICE startup. The time-varying EM torque component is calculated using an analytical ICE model and a perturbation technique for separating scales, which isolates the ICE nonlinear response. Command shaping is then applied to the linear problem at the remaining scale. Simulation results suggest a promising and straightforward technique for reducing vibrations and improving drivability during ICE restart. Furthermore, two-scale command shaping may also be useful in mitigating other HEV-related drivability issues associated with powertrain mode changes (e.g., blending of hybrid power sources, engaging and disengaging of clutches, etc.).

Uncertain Parameter Estimation Approaches for Increasing the Effectiveness of Command-Shaped Engine Restart Strategies

2017 ◽  
Author(s):  
J. Justin Wilbanks ◽  
Michael J. Leamy
Keyword(s):  
Hybrid Electric Vehicle ◽  
Combustion Engine ◽  
Recursive Least Squares ◽  
Multiple Time Scales ◽  
Successful Implementation ◽  
Multiple Time ◽  
Extended Kalman Filtering ◽  
Command Shaping ◽  
Restart Strategy ◽  
Noise Vibration

This paper develops recursive least-squares (RLS) and extended Kalman filtering (EKF) approaches for estimating uncertain engine friction (and other) parameters necessary for successful implementation of a two-scale command shaping (TSCS) engine restart strategy. The TSCS strategy has been developed for mitigating vibrations in conventional and hybrid electric vehicle (HEV) powertrains during internal combustion engine (ICE) restart. Implementing the TSCS strategy increases the drivability of a HEV by reducing noise, vibration, and harshness (NVH) issues associated with ICE restart during a powertrain mode transition. This is accomplished primarily, by modifying the electric machine (EM) torque profile with linear and time-varying components over multiple time scales. For full implementation, the TSCS strategy requires input parameters characterizing the ICE which may be a) difficult to quantify, and/or b) uncertain due to their dependence on engine operating temperature and other environmental considerations. RLS and EKF algorithms tailored to TSCS are presented herein for estimating these parameters. It is shown that both the RLS and EKF algorithms can be used to estimate the necessary ICE parameters and increase effectiveness of the TSCS strategy. The EKF algorithm, in particular, estimates uncertain ICE parameters with minimal measurement requirements, giving it an advantage over the presented RLS algorithm.

NAO Robots Collaboration for Object Manipulation

2013 ◽  
Vol 332 ◽  
pp. 218-223 ◽  
Author(s):  
Alina Ninett Panfir ◽  
Răzvan Boboc ◽  
Gheorghe Leonte Mogan
Keyword(s):  
Object Manipulation ◽  
Humanoid Robots ◽  
New Method ◽  
Successful Implementation ◽  
Manufacturing Environment ◽  
Complex Operation ◽  
And Performance ◽  
The Impact ◽  
Specific Scenario

This paper proposes a new method of collaboration within a team of twoindividual NAO robots that should execute together a complex operation. The Naorobots are developed so as not only to act individually, but also to cooperatewith other robots if they cannot accomplish the operation alone. This paperpresents a case study demonstrating the integration of the humanoid roboticsplatform Nao within a cooperation application. This specific scenario ofinterest takes place in a small simulated manufacturing environment; while thetask being the storage of a big object, with different shape and weight. Thisscenario is used to observe the impact and performance that this particularteam of humanoid robots has in an industrial environment.Finally we present the successful implementation of robot – robot cooperationcapabilities inspired by human behaviour.

Model-Based Control for Diesel Engine Start-Stop Operations With a Belted Starter/Alternator

2007 ◽  
Author(s):  
Marcello Canova ◽  
Joseph Porembski ◽  
Kris Sevel ◽  
Yann Guezennec ◽  
Steve Yurkovich
Keyword(s):  
Diesel Engine ◽  
Nonlinear Model ◽  
Hybrid Electric Vehicle ◽  
Feedforward Control ◽  
Combustion Engine ◽  
Control Action ◽  
Successful Implementation ◽  
Vehicle Noise ◽  
Model Based ◽  
Engine Start

The coupling of an internal combustion engine with a starter/alternator is one of the most easily realizable hybrid electric vehicle configurations to achieve significant fuel economy savings in urban driving. A successful implementation of the starter alternator technology includes controlling the electric motor to start and stop the engine quickly and smoothly, without compromising the vehicle noise, vibration and harshness (NVH) signature. The issue becomes more critical in the case of Diesel hybrids, as the peak compression torque is much larger than in automotive spark ignition engines. This paper presents a model-based approach in control design for engine start/stop operations with a belted starter/alternator. Starting from previous modeling and experimental results, a nonlinear model of a belted starter/alternator coupled with a Diesel engine is developed for control algorithm development. With the introduction of a feed-forward control action proportional to the instantaneous engine torque, the starter/alternator controller is capable of consistently reducing the large torque fluctuations during the engine start. With this feedforward control action, the engine start control problem can be translated into a simpler disturbance rejection problem, given a prescribed speed trajectory. This facilitates a linearization of the complex nonlinear model to produce a control-oriented model on which feedback control can be designed. Using the control-oriented model thus developed, different linear control designs have been developed and compared. Further, a robustness study is conducted to evaluate the effect of noise and uncertainties common to such systems. The final results are tested on the original nonlinear truth model, demonstrating the capability of starting and stopping the engine with very limited torque and speed fluctuations.

scholarly journals Technical and operating problems yielded from setting up the optimum value of geometric compression ratio in piston engines

2016 ◽  
Vol 164 (1) ◽  
pp. 3-14
Author(s):  
Paweł WOŚ ◽  
Artur JAWORSKI ◽  
Hubert KUSZEWSKI ◽  
Kazimierz LEJDA ◽  
Adam USTRZYCKI
Keyword(s):  
Compression Ratio ◽  
Internal Combustion Engines ◽  
Combustion Engine ◽  
Exhaust Emission ◽  
Road Transportation ◽  
Design Structure ◽  
Operational Characteristics ◽  
And Performance ◽  
And Control ◽  
The Impact

The article discusses the problem of choosing the optimal compression ratio value in internal combustion engines at their design phase, according to todays development trends toward high economy and ecology of road transportation and the divers expectations in vehicle use and performance. Because the variable compression ratio technology VCR is not yet developed well enough to be implemented into the mass production of engines in the near future, the choice of compression ratio value is always a serious task for constructors to find a compromise between the functional engine properties, operational characteristics, engine efficiency, the powertrain design complexity, and finally the exhaust emission level. Therefore, the paper examines the impact of the compression ratio on the combustion engine parameters mentioned above and presents some innovative designs, where the settings of the compression ratio value beyond the conventional range is connected with using additional solutions in design structure and control systems, with modifications corresponding to the working process in these engines.

scholarly journals Effect of boosting system architecture and thermomechanical limits on diesel engine performance: Part-I—Steady-state operation

2017 ◽  
Vol 19 (8) ◽  
pp. 854-872
Author(s):  
José Galindo ◽  
Hector Climent ◽  
Olivier Varnier ◽  
Chaitanya Patil
Keyword(s):  
Fuel Consumption ◽  
Combustion Engine ◽  
Engine Performance ◽  
Efficiency Optimization ◽  
Engine Model ◽  
Steady State Operation ◽  
Base Engine ◽  
And Performance ◽  
The Impact ◽  
Engine Development

Internal combustion engine developments are more focused on efficiency optimization and emission reduction for the upcoming future. To achieve these goals, technologies like downsizing and downspeeding are needed to be developed according to the requirement. These modifications on thermal engines are able to reduce fuel consumption and [Formula: see text] emission. However, implementation of these kind of technologies asks for right and efficient charging systems. This article consists of study of different boosting systems and architectures (single- and two-stage) with combination of different charging systems like superchargers and e-boosters. A parametric study is carried out with a zero-dimensional engine model to analyze and compare the effects of these different architectures on the same base engine. The impact of thermomechanical limits, turbo sizes and other engine development option characterizations are proposed to improve fuel consumption, maximum power and performance of the downsized/downspeeded diesel engines.

Configuration Design and Energy Balancing of Compact-Hybrid Powertrains

2014 ◽  
Author(s):  
Paul D. Walker ◽  
Holger M. Roser
Keyword(s):  
Electric Vehicle ◽  
Hybrid Electric Vehicle ◽  
Vehicle Emissions ◽  
Operating Cost ◽  
Small Scale ◽  
Configuration Design ◽  
Energy Balancing ◽  
Hybrid Electric ◽  
And Performance ◽  
The Impact

The development of compact and efficient hybrid electric vehicle powertrains for low initial and on-going costs requires consideration of numerous, often competing factors. Appropriately designing and sizing these powertrains requires the consideration of requirements for vehicle range and performance, considered directly through the sizing of motors and engines, and indirectly through minimization of vehicle mass whilst being constrained by total stored energy in the vehicle, against the impact on vehicle emissions and on purchase and ongoing operational costs. In addition to these considerations the actual driver use will strongly influence the energy consumed and vehicle emissions. It therefore becomes beneficial to provide flexibility in hybrid vehicle configuration design to enable the minimization of vehicle emissions and ongoing vehicle costs. The purpose of this paper is to study the various alternative vehicle powertrain configurations for application to small scale hybridization demands, such as scooters or motorcycles. Powertrain configurations studied in this paper include plug-in hybrid electric (PHEV), battery hybrid electric (BHEV), and a pure electric vehicle (PEV). To design and size each of the configurations a statistical approach is taken, power and load demands are studied and utilized to size powertrain components. Results are extended to size vehicle energy storage for electric only range of 25, 50 and 100 km, and total vehicle range of 100 km for the BHEV and 200 km for the PHEV. Based on the results developed from the analysis mathematical models of each of the powertrain configurations are then developed in Matlab/Simulink and numerical studies of vehicle energy consumption in comparison to range are conducted. Outcomes of these simulations are compared to an operating cost based analysis of the suggested powertrains; the benefits and limitations of each design are considered in detail.

Techniques for vibration control of a flexible robot manipulator

Robotica ◽  
2006 ◽  
Vol 24 (4) ◽  
pp. 499-511 ◽  
Author(s):  
Z. Mohamed ◽  
A. K. Chee ◽  
A. W. I. Mohd Hashim ◽  
M. O. Tokhi ◽  
S. H. M. Amin ◽  
...  
Keyword(s):  
Vibration Control ◽  
Robot Manipulator ◽  
Flexible Manipulator ◽  
Flexible Robot ◽  
Command Shaping ◽  
Parameters Uncertainty ◽  
Frequency Domains ◽  
And Performance ◽  
The Impact ◽  
Input Shaping Control

This paper presents investigations into the applications and performance of positive and negative input shapers in command shaping techniques for the vibration control of a flexible robot manipulator. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the finite element method. An unshaped bang-bang torque input is used to determine the characteristic parameters of the system for design and evaluation of the input shaping control techniques. The positive and specified amplitude negative input shapers are designed based on the properties of the system. Simulation results of the response of the manipulator to the shaped inputs are presented in the time and frequency domains. Performances of the shapers are examined in terms of level of vibration reduction, time response specifications and robustness to parameters uncertainty. The effects of derivative order of the input shaper on the performance of the system are investigated. Finally, a comparative assessment of the impact amplitude polarities of the input shapers on the system performance is presented and discussed.

scholarly journals Evaluation of Performance of Flux Switching Motor in Segmented Rotor Using Permanent Magnet For Direct Drive

2018 ◽  
Vol 7 (4.30) ◽  
pp. 383
Author(s):  
Enwelum I. Mbadiwe ◽  
Erwan B. Sulaiman
Keyword(s):  
Permanent Magnet ◽  
Electric Motor ◽  
Hybrid Electric Vehicle ◽  
Combustion Engine ◽  
Direct Drive ◽  
Petroleum Resources ◽  
High Torque ◽  
Personal Transportation ◽  
And Performance ◽  
Flux Switching Motor

The torque action provided by combustion engine in conventional vehicles has been boosted by added electric motor, a device which also provide torque, for fuel economy in hybrid electric vehicle. Meanwhile, the complicated nature of combustion engine still poses economic imperatives as petroleum resources are getting depleted. Interestingly, vehicles propelled by electric motor powered by electricity, will completely eliminate combustion engine using fossil oil and also provide clean and reliable vehicles for personal transportation. Since electric motor is a core component, high torque motors are necessary for direct drive application. This papers presents a feasible 24 stator - 10 rotor segments flux switching motor (FSM) using 1 kg weight of PM. FSM is advance form of synchronous machine with double frequency that locates all active materials on the stator only. Permanent magnet (PM) flux source is chosen because it offers loss free excitation without external circuit connection. The JMAG® Studio tool version 14.1 was employed for 2D- FEA design and performance investigation of motor in terms of cogging torque and average torque.  Finally, simulation result of proposed motor successfully achieved 352Nm and constant power of 36kW projecting it as viable candidate for high torque necessary for direct drive application.

scholarly journals Development of Transmission Systems for Parallel Hybrid Electric Vehicles

2019 ◽  
Vol 9 (8) ◽  
pp. 1538 ◽  
Author(s):  
Po-Tuan Chen ◽  
Ping-Hao Pai ◽  
Cheng-Jung Yang ◽  
K. David Huang
Keyword(s):  
Electric Vehicles ◽  
Hybrid Electric Vehicle ◽  
Hybrid Electric Vehicles ◽  
Combustion Engine ◽  
Gear Ratio ◽  
Parallel Hybrid ◽  
Matching Design ◽  
Hybrid Electric ◽  
Optimal Efficiency ◽  
And Performance

This study investigated the matching designs between a power integration mechanism (PIM) and transmission system for single-motor parallel hybrid electric vehicles. The optimal matching design may lead to optimal efficiency and performance in parallel hybrid vehicles. The Simulink/Simscape environment is used to model the powertrain system of parallel hybrid electric vehicles, which the characteristics of the PIM, location of the gearbox at the driveline, and design of the gear ratio of a gearbox influenced. The matching design principles for torque-coupled–type PIM (TC-PIM) parameters and the location of the gearbox are based on the speed range of the electric motor and the internal combustion engine. The parameters of the TC-PIM (i.e., k 1 and k 2 ) are based on the k ratio theory. Numerical simulations of an extra-urban driving cycle and acceleration tests reveal that a higher k r a t i o has greater improved power-assist ability under a pre-transmission architecture. For example, a k r a t i o of 1.6 can improve the power-assist ability by 8.5% when compared with a k r a t i o of 1. By using an appropriate gear ratio and k r a t i o , the top speed of a hybrid electric vehicle is enhanced by 9.3%.

Sign in / Sign up

Export Citation Format

Share Document