T-3-2-3 Development of a Real-time Multibody Vehicle Dynamics and Control Model for Intelligent Vehicle Simulator

2002 ◽  
Vol 2002 (0) ◽  
pp. 231-238
Author(s):  
Sung Soo Kim ◽  
Mooncheol Won ◽  
Kyuil Lee
Keyword(s):  
Real Time ◽  
Vehicle Dynamics ◽  
Control Model ◽  
Intelligent Vehicle ◽  
Dynamics And Control ◽  
Vehicle Simulator ◽  
And Control

Intelligent Vehicle Local Planning Based on Optimized Path Generation and Selection

2014 ◽  
Vol 571-572 ◽  
pp. 303-307
Author(s):  
Jin Hang Wang ◽  
Yan Jiang ◽  
Hong Fen Guo ◽  
Jian Wei Gong ◽  
Xian Qiang Liu ◽  
...  
Keyword(s):  
Real Time ◽  
Vehicle Dynamics ◽  
High Speed ◽  
Intelligent Vehicle ◽  
Local Planning ◽  
Traffic Environment ◽  
Local Path ◽  
Feasible Path ◽  
And Control ◽  
Real Traffic

Local planning is of great importance to intelligent vehicle driving at high speed where the traffic environment is complex. The local planning must satisfy the performance of good real-time and guarantee feasibility and safety. In this paper, a novel local planning method based on the optimization of curve generation and selection is proposed. By optimizing the curve parameter model, we can get the feasible path which is satisfied with vehicle dynamics constraints. Then taking into account the obstacle constraint, we apply this method to generate a cluster of candidate paths used for tracking global path. Next, we use optimization indicators presented in this paper to choose the suitable desired local path. Experimental results show that: using our method, the change in the curvature of the generated desired local path is slight and it meet the requirement of safety and control smoothness. Besides, this method can satisfy the meeting of tracking global path. What’s more, in real traffic environment, this method reflects a good performance in real-time and safety.

Power Reserve Classification and Control for Peaking Balance with Intermittent Generation Grid

2014 ◽  
Vol 521 ◽  
pp. 252-255
Author(s):  
Jian Yuan Xu ◽  
Jia Jue Li ◽  
Jie Jun Zhang ◽  
Yu Zhu
Keyword(s):  
Real Time ◽  
Balance Control ◽  
Control Model ◽  
Intermediate Variable ◽  
Proposed Model ◽  
Grid Operators ◽  
Period Constant ◽  
Grid Operation ◽  
And Control ◽  
Time Reserve

The problem of intermittent generation peaking is highly concerned by the grid operator. To build control model for solving unbalance of peaking is great necessary. In this paper, we propose reserve classification control model which contain constant reserve control model with real-time reserve control model to guide the peaking balance of the grid with intermittent generation. The proposed model associate time-period constant reserve control model with real-time reserve control model to calculate, and use the peaking margin as intermediate variable. Therefore, the model solutions which are the capacity of reserve classification are obtained. The grid operators use the solution to achieve the peaking balance control. The proposed model was examined by real grid operation case, and the results of the case demonstrate the validity of the proposed model.

Real Time Energy Monitoring and Control Model for Peer-to-Peer Integrated Hybrid Supply System

2021 ◽  
Author(s):  
Kufre Esenowo Jack ◽  
Nsikak John Affia ◽  
Uchenna Godswill Onu ◽  
Emmanuel Okekenwa ◽  
Ernest Ozoemela Ezugwu ◽  
...  
Keyword(s):  
Real Time ◽  
Control Model ◽  
Peer To Peer ◽  
Supply System ◽  
Monitoring And Control ◽  
Energy Monitoring ◽  
And Control

Design and Development of a Multi-Module Deployable Manipulator

1999 ◽  
Author(s):  
Kenneth Wong ◽  
Vinod J. Modi ◽  
Clarence W. de Silva ◽  
Arun K. Misra
Keyword(s):  
Real Time ◽  
Experimental Investigations ◽  
Computationally Efficient ◽  
Real Time Control ◽  
Design And Development ◽  
Time Control ◽  
Dynamics And Control ◽  
Manipulator Design ◽  
A Chain ◽  
And Control

Abstract This paper presents the design and development of a Multi-module Deployable Manipulator System (MDMS) as well as a dynamical formulation for it. The system is designed for experimental investigations aimed at dynamics and control of this variable geometry manipulator by implementing different control algorithms to regulate its performance. The manipulator operates in a horizontal plane and is unique in that it comprises of four modules, each of which has one revolute joint and one prismatic joint, connected in a chain topology. Each module has a slewing link of approximately 20cm length and is capable of extending by 15cm. The manipulator design involves the selection and sizing of actuators, the design of mounting and connecting components, and the selection of hardware as well as software for real-time control. The dynamical model is formulated using an O(N) algorithm, based on the Lagrangian approach and velocity transformations. The O(N) character is computationally efficient permitting real-time control of the system.

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