Analysis of Stability Control Systems for Single-Unit Commercial Vehicles

2011 ◽  
Author(s):  
Dan T. Horak
Keyword(s):  
Control Problem ◽  
Control Systems ◽  
Single Unit ◽  
Dynamic Models ◽  
Stability Control ◽  
Performance Limits ◽  
Commercial Vehicles ◽  
Rollover Stability ◽  
Analysis Of Stability ◽  
The Stability

The stability control problem of single-unit commercial vehicles, from large pickup trucks to motorcoaches, is analyzed. Detailed dynamic models of four baseline vehicles are used to estimate the feasibility and the performance limits of rollover stability and directional stability control systems for such vehicles on dry and wet roads.

scholarly journals Exact Null Controllability, Stabilizability, and Detectability of Linear Nonautonomous Control Systems: A Quasisemigroup Approach

2018 ◽  
Vol 2018 ◽  
pp. 1-12
Author(s):  
Sutrima Sutrima ◽  
Christiana Rini Indrati ◽  
Lina Aryati
Keyword(s):  
Control Systems ◽  
Approximate Controllability ◽  
Null Controllability ◽  
Control Problems ◽  
Output Stability ◽  
Sturm Liouville ◽  
Exact Null Controllability ◽  
Analysis Of Stability ◽  
The Stability ◽  
Controllability And Observability

In the theory control systems, there are many various qualitative control problems that can be considered. In our previous work, we have analyzed the approximate controllability and observability of the nonautonomous Riesz-spectral systems including the nonautonomous Sturm-Liouville systems. As a continuation of the work, we are concerned with the analysis of stability, stabilizability, detectability, exact null controllability, and complete stabilizability of linear non-autonomous control systems in Banach spaces. The used analysis is a quasisemigroup approach. In this paper, the stability is identified by uniform exponential stability of the associated C0-quasisemigroup. The results show that, in the linear nonautonomous control systems, there are equivalences among internal stability, stabizability, detectability, and input-output stability. Moreover, in the systems, exact null controllability implies complete stabilizability.

The shape control of tentacle arms

Robotica ◽  
2014 ◽  
Vol 33 (3) ◽  
pp. 684-703 ◽  
Author(s):  
Mircea Ivanescu ◽  
Nirvana Popescu ◽  
Decebal Popescu
Keyword(s):  
Control Problem ◽  
Sensor Network ◽  
Shape Control ◽  
Dynamic Models ◽  
Robot Arm ◽  
State Control ◽  
Angle Sensor ◽  
Measuring Systems ◽  
The Stability ◽  
Curvature Gradient

SUMMARYThe paper discusses the shape control problem related to a class of hyper-redundant robot arms with continuum elements, i.e. tentacle arms. A spatial weighted technique for sensor measurements is used in order to facilitate the parameter estimation. The paper focuses on the shape control by using the curvature gradient a constant parameter along the segment arm. The conditions that ensure a constant curvature gradient for a class of tentacle arms characterized by elastic backbone are determined. A sensor network distributed along the robot arm is used for the shape control. The main parameters of the arm shape, curvature and curvature gradient or “shape” Jacobian for the control problem are estimated. Two measuring systems are used: a) a distributed angle sensor network and b) a curvature sensor placed at the end of the arm segment. The stability analysis and the resulting controllers are obtained using the concept of boundary geometric control and the weighted state control methods. The shape control algorithms for dynamic models with uncertain components are proposed. Numerical simulations and experimental results illustrate the effectiveness of the above mentioned algorithms.

scholarly journals Identification of the stability control systems of the running two-wheeled vehicle.

1991 ◽  
Vol 57 (535) ◽  
pp. 848-853 ◽  
Author(s):  
Takio OOYA ◽  
Makio ISHIGURO ◽  
Hisashi OGINO ◽  
Kazuhiko HIRAYAMA
Keyword(s):  
Control Systems ◽  
Stability Control ◽  
Wheeled Vehicle ◽  
The Stability

scholarly journals LMI-Based H∞ Controller of Vehicle Roll Stability Control Systems with Input and Output Delays

Sensors ◽  
2021 ◽  
Vol 21 (23) ◽  
pp. 7850
Author(s):  
Jonatan Pajares Redondo ◽  
Beatriz L. Boada ◽  
Vicente Díaz
Keyword(s):  
Control Systems ◽  
Low Cost ◽  
Stability Control ◽  
Control Input ◽  
Commercial Vehicles ◽  
Risky Driving ◽  
Roll Moment ◽  
Output Feedback Controller ◽  
Input And Output ◽  
Roll Rate

Many of the current research works are focused on the development of different control systems for commercial vehicles in order to reduce the incidence of risky driving situations, while also improving stability and comfort. Some works are focused on developing low-cost embedded systems with enough accuracy, reliability, and processing time. Previous research works have analyzed the integration of low-cost sensors in vehicles. These works demonstrated the feasibility of using these systems, although they indicate that this type of low-cost kit could present relevant delays and noise that must be compensated to improve the performance of the device. For this purpose, it is necessary design controllers for systems with input and output delays. The novelty of this work is the development of an LMI-Based H∞ output-feedback controller that takes into account the effect of delays in the network, both on the sensor side and the actuator side, on RSC (Roll Stability Control) systems. The controller is based on an active suspension with input and output delays, where the anti-roll moment is used as a control input and the roll rate as measured data, both with delays. This controller was compared with a controller system with a no-delay consideration that was experiencing similar delays. The comparison was made through simulation tests with a validated vehicle on the TruckSim® software.

TO THE STABILITY OF TANK VEHICLES IN THE BRAKE MODE

2019 ◽  
pp. 27-32
Author(s):  
Denys Popelysh ◽  
Yurii Seluk ◽  
Sergyi Tomchuk
Keyword(s):  
Mathematical Model ◽  
Control Systems ◽  
Distribution Systems ◽  
Traffic Accidents ◽  
Road Traffic ◽  
Center Of Mass ◽  
Dynamic Processes ◽  
Course Stability ◽  
The Stability ◽  
Tank Vehicles

This article discusses the question of the possibility of improving the roll stability of partially filled tank vehicles while braking. We consider the dangers associated with partially filled tank vehicles. We give examples of the severe consequences of road traffic accidents that have occurred with tank vehicles carrying dangerous goods. We conducted an analysis of the dynamic processes of fluid flow in the tank and their influence on the basic parameters of the stability of vehicle. When transporting a partially filled tank due to the comparability of the mass of the empty tank with the mass of the fluid being transported, the dynamic qualities of the vehicle change so that they differ significantly from the dynamic characteristics of other vehicles. Due to large displacements of the center of mass of cargo in the tank there are additional loads that act vehicle and significantly reduce the course stability and the drivability. We consider the dynamics of liquid sloshing in moving containers, and give examples of building a mechanical model of an oscillating fluid in a tank and a mathematical model of a vehicle with a tank. We also considered the method of improving the vehicle’s stability, which is based on the prediction of the moment of action and the nature of the dynamic processes of liquid cargo and the implementation of preventive actions by executive mechanisms. Modern automated control systems (anti-lock brake system, anti-slip control systems, stabilization systems, braking forces distribution systems, floor level systems, etc.) use a certain list of elements for collecting necessary parameters and actuators for their work. This gives the ability to influence the course stability properties without interfering with the design of the vehicle only by making changes to the software of these systems. Keywords: tank vehicle, roll stability, mathematical model, vehicle control systems.

scholarly journals Stability Control for Electric Vehicles with Four In-Wheel-Motors Based on Sideslip Angle

2021 ◽  
Vol 12 (1) ◽  
pp. 42
Author(s):  
Kun Yang ◽  
Danxiu Dong ◽  
Chao Ma ◽  
Zhaoxian Tian ◽  
Yile Chang ◽  
...  
Keyword(s):  
Electric Vehicles ◽  
Control Method ◽  
Sliding Mode ◽  
Stability Control ◽  
Torque Control ◽  
Wheel Load ◽  
Sideslip Angle ◽  
Distribution Method ◽  
Load Rate ◽  
The Stability

Tire longitudinal forces of electrics vehicle with four in-wheel-motors can be adjusted independently. This provides advantages for its stability control. In this paper, an electric vehicle with four in-wheel-motors is taken as the research object. Considering key factors such as vehicle velocity and road adhesion coefficient, the criterion of vehicle stability is studied, based on phase plane of sideslip angle and sideslip-angle rate. To solve the problem that the sideslip angle of vehicles is difficult to measure, an algorithm for estimating the sideslip angle based on extended Kalman filter is designed. The control method for vehicle yaw moment based on sliding-mode control and the distribution method for wheel driving/braking torque are proposed. The distribution method takes the minimum sum of the square for wheel load rate as the optimization objective. Based on Matlab/Simulink and Carsim, a cosimulation model for the stability control of electric vehicles with four in-wheel-motors is built. The accuracy of the proposed stability criterion, the algorithm for estimating the sideslip angle and the wheel torque control method are verified. The relevant research can provide some reference for the development of the stability control for electric vehicles with four in-wheel-motors.

scholarly journals The Application of an Impedance-Passivity Controller in Haptic Stability Analysis

2021 ◽  
Vol 11 (4) ◽  
pp. 1618
Author(s):  
Ping-Nan Chen ◽  
Yung-Te Chen ◽  
Hsin Hsiu ◽  
Ruei-Jia Chen
Keyword(s):  
Control Systems ◽  
Force Feedback ◽  
Training System ◽  
Considerable Time ◽  
Virtual Training ◽  
Control Gain ◽  
Negative Damping ◽  
The Stability ◽  
Time Required ◽  
Stable Control

This paper proposes a passivity theorem on the basis of energy concepts to study the stability of force feedback in a virtual haptic system. An impedance-passivity controller (IPC) was designed from the two-port network perspective to improve the chief drawback of haptic systems, namely the considerable time required to reach stability if the equipment consumes energy slowly. The proposed IPC can be used to achieve stability through model parameter selection and to obtain control gain. In particular, haptic performance can be improved for extreme cases of high stiffness and negative damping. Furthermore, a virtual training system for one-degree-of-freedom sticking was developed to validate the experimental platform of our IPC. To ensure consistency in the experiment, we designed a specialized mechanical robot to replace human operation. Finally, compared with basic passivity control systems, our IPC could achieve stable control rapidly.

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