scholarly journals Analysis on Steering Performance of Active Steering Bogie According to Steering Angle Control in Curve Section

2020 ◽  
Author(s):  
Hyunmoo Hur ◽  
Yujeong Shin ◽  
Dahoon Ahn
Keyword(s):  
Position Control ◽  
Control Method ◽  
Lateral Force ◽  
Future Research ◽  
Railway Vehicle ◽  
Radius Of Curvature ◽  
Steering Angle ◽  
Active Steering ◽  
Derailment Coefficient ◽  
Curved Section

The steering performance according to the steering angle control was tested by using the active steering bogie developed to reduce excessive wheels and rail wear and noise generated when the railway vehicle run in a curved section. As a result of the test of increasing the steering angle in accordance with the target steering angle in the 300m radius of curvature, the bogie is gradually aligned in the radial steering position, and when the control is carried out to 100% of the target steering angle, the bogie angles of the front and rear bogies appeared almost the same. As the steering angle increased, wheel lateral force and derailment coefficient also decreased. Therefore, the validity of the radial steering position control method applied in this paper was confirmed experimentally. This test results will be used for future research on active steering bogie commercialization.

scholarly journals Analysis on Steering Performance of Active Steering Bogie According to Steering Angle Control on Curved Section

2020 ◽  
Vol 10 (12) ◽  
pp. 4407
Author(s):  
Hyunmoo Hur ◽  
Yujeong Shin ◽  
Dahoon Ahn
Keyword(s):  
Lateral Force ◽  
Steering System ◽  
Design Stage ◽  
Radius Of Curvature ◽  
Steering Control ◽  
Level Control ◽  
Steering Angle ◽  
Active Steering ◽  
Derailment Coefficient ◽  
Curved Section

In this paper, prior to the commercialization of a developed active steering bogie, we want to analyze steering performance experimentally according to steering angle level with the aim of obtaining steering performance data to derive practical design specifications for a steering system. In other words, the maximum steering performance can be obtained by controlling the steering angle at the 100% level of the target steering angle, but it is necessary to establish the practical control range in consideration of the steering system cost increase, size increase, and consumer steering performance requirements and commercialize. The steering control test using the active steering bogie was conducted in the section of the steep curve with a radius of curvature of R300, and steering performance such as bogie angle, wheel lateral force, and derailment coefficient were analyzed according to the steering angle level. As the steering angle level increased, the bogie indicated that it was aligned with the radial steering position, and steering performance such as wheel lateral force and derailment coefficient was improved. The steering control at 100% level of the target steering angle can achieve the highest performance of 83.6% reduction in wheel lateral force, but it can be reduced to about one-half of the conventional bogie at 25% level control and about one-third at 50% level. Considering cost rise by adopting the active steering system, this result can be used as a very important design indicator to compromise steering performance and cost rise issues in the design stage of the steering system from a viewpoint of commercialization. Therefore, it is expected that the results of the steering performance experiment according to the steering angle level in this paper will be used as very useful data for commercialization.

Active Steering Control Based on the Estimated Tire Forces

1999 ◽  
Vol 123 (3) ◽  
pp. 505-511 ◽  
Author(s):  
Kunsoo Huh ◽  
Joonyoung Kim
Keyword(s):  
Control Method ◽  
Lateral Force ◽  
Steering Control ◽  
Monitoring Model ◽  
Active Steering ◽  
Steer By Wire ◽  
The Difference ◽  
Tire Forces ◽  
Active Steering Control ◽  
As If

Steered vehicles on slippery roads tend to slide outward with less lateral force than on high friction roads. In this paper, an active steering control method is proposed such that the vehicles on slippery roads are steered as if they are driven on high friction roads. In order to estimate the lateral force at each tire, a monitoring model is developed utilizing not only the vehicle dynamics but also the roll motion. The estimated lateral force is compared with the optimal reference force and the difference is compensated by the active steering controller. A fuzzy logic rule is designed for the active controller and its performance is evaluated on a steering Hardware-In-the-Loop Simulation (HILS) system. Steering results on slippery curved and sinusoidal roads demonstrate the effectiveness of the proposed controller. The drivers with the controller can steer the vehicles as if they are always driving on the high friction road, because the deviation from the high friction road is accommodated by the proposed steering controller. This method can be realized with the steer-by-wire concept and is promising as an active safety technology.

Prediction of the Probability of Rail Vehicle Derailment During Grade Crossing Collisions

1982 ◽  
Vol 104 (2) ◽  
pp. 119-132 ◽  
Author(s):  
D. B. Cherchas ◽  
G. W. English ◽  
N. Ritchie ◽  
E. R. McIlveen ◽  
C. Schwier
Keyword(s):  
Computer Simulation ◽  
Preliminary Investigation ◽  
Lateral Force ◽  
Railway Vehicle ◽  
Vehicle Speed ◽  
Wheel Load ◽  
Road Vehicle ◽  
Rail Vehicle ◽  
Derailment Coefficient ◽  
Grade Crossing

A mathematical model and digital computer simulation are developed to analyze the dynamics of railway and road vehicles during grade crossing collisions. The main objective of the simulation is to relate the probability of derailment to railway vehicle speed; however, a variety of other response characteristics such as railway and road vehicle structure deformation and road vehicle dynamic response can be examined. The criterion for derailment is based on the derailment coefficient, i.e., ratio of wheel flange/railhead lateral force to vertical wheel load. More specifically, the computer simulation utilizes a relationship between the probability of wheel climb commencing and the derailment coefficient, established by Japan National Railways based on their experimental test program. A preliminary investigation is made of the sensitivity of the derailment probability to various collision situations, with the emphasis on increasing rail vehicle speed. Conclusions and recommendations based on this analysis are presented.

AWD Vehicle Dynamics and Energy Efficiency Improvement by Means of Interaxle Driveline and Steering Active Fusion

2013 ◽  
Author(s):  
Vladimir V. Vantsevich
Keyword(s):  
Energy Efficiency ◽  
Power Distribution ◽  
Longitudinal Velocity ◽  
Lateral Force ◽  
Steering System ◽  
Lateral Acceleration ◽  
Mathematical Function ◽  
Steering Angle ◽  
Lateral Dynamics ◽  
Active Steering

This paper presents a novel approach to improve both energy efficiency and lateral dynamics of an all-wheel drive (AWD) vehicle by means of active functional/operational fusion of a driveline system, which distributes power between the front and rear driving axles, and a steering system that steers the front driving wheels. The paper starts by presenting the kinematic discrepancy factor, which is a normalized difference of the front and rear theoretical velocities that influences the wheel power distribution, as a mathematical function of the tire rolling radii in the driven mode, the gear ratios of the driveline system, and the steering angle of the front wheels. Using this function, the gear ratios from the transfer case to the front and rear wheels are determined to optimize vehicle energy efficiency by minimizing the kinematic discrepancy at the vehicle’s straight line motion and on a curve. It is also analytically shown that the wheel power distribution leads to the variation of the circumferential force of the front wheels that significantly influences the magnitude and direction of the front wheel lateral force. Thus, the paper introduced the wheel power distribution between the driving axles as an instrument for controlling oversteer-understeer transition of a vehicle, i.e., controlling vehicle lateral dynamics. Finally, the steering angle of the front wheels is considered and analyzed as an input of an active steering system to control the vehicle oversteer-understeer process in combination with the effect of the steering angle on the kinematic discrepancy factor. Longitudinal velocity control is added to constrain the lateral acceleration. Thus, the functional fusion of the active steering and driveline systems for enhancing both AWD vehicle energy efficiency and dynamics is introduced for the first time.

A Study on the Evaluation Methods of Running Safety for Railway Vehicle

2006 ◽  
Vol 321-323 ◽  
pp. 1499-1502 ◽  
Author(s):  
Young Sam Ham ◽  
Jai Sung Hong ◽  
Taek Yul Oh
Keyword(s):  
Lateral Force ◽  
Interaction Force ◽  
Load Test ◽  
Railway Vehicle ◽  
Static Load Test ◽  
Track Maintenance ◽  
Running Safety ◽  
Derailment Coefficient ◽  
Main Track ◽  
Measurement And Evaluation

The important factor to evaluate the running safety of a railway vehicle would be the interaction force between wheel and rail(derailment coefficient), for which is one of important factors to check the running safety of a railway vehicle that may cause a tragic accident. Especially, a newly developed vehicle that first runs commercially requires necessarily the measurement and evaluation of derailment coefficient for securing the safety of a vehicle while measuring the derailment coefficient in view of securing running safety could be the more important factor than any other factors. In the meanwhile, it should be also measured the interaction force between wheel and rail in view of track maintenance as well as running safety because increased weight of a vehicle while it is running over a railway may cause damages or destruction on track components such as rails, sleepers and etc consisted of track and any rapid distortion of track. For the reason, the study was intended to evaluate the curving performance and the running safety from the analyses of dynamic running properties, manufacturing wheel axes to measure the working operation of wheels/rail, static load test, derailment coefficient calculated by running test on main track, ratio of wheel unloading, lateral force tolerance of the vehicle that is newly manufactured and commercially running on Gwangju Urban Railway and describe the results.

scholarly journals Backstepping Sliding-Mode Control of Piezoelectric Single-Piston Pump-Controlled Actuator

Actuators ◽  
2021 ◽  
Vol 10 (7) ◽  
pp. 154
Author(s):  
Bin Wang ◽  
Pengda Ren ◽  
Xinhao Huang
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Control Method ◽  
Sliding Mode ◽  
Piezoelectric Pump ◽  
Mode Control ◽  
Control Precision ◽  
Backstepping Sliding Mode Control ◽  
Actuator System ◽  
The Mathematical Model

A piston piezoelectric (PZT) pump has many advantages for the use of light actuators. How to deal with the contradiction between the intermittent oil supplying and position control precision is essential when designing the controller. In order to accurately control the output of the actuator, a backstepping sliding-mode control method based on the Lyapunov function is introduced, and the controller is designed on the basis of establishing the mathematical model of the system. The simulation results show that, compared with fuzzy PID and ordinary sliding-mode control, backstepping sliding-mode control has a stronger anti-jamming ability and tracking performance, and improves the control accuracy and stability of the piezoelectric pump-controlled actuator system.

scholarly journals Model predictive control for autonomous ground vehicles: a review

2021 ◽  
Vol 1 (1) ◽  
Author(s):  
Shuyou Yu ◽  
Matthias Hirche ◽  
Yanjun Huang ◽  
Hong Chen ◽  
Frank Allgöwer
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
High Performance ◽  
Control Method ◽  
Theoretical Background ◽  
Future Research ◽  
Centralized Control ◽  
Ground Vehicles ◽  
Uncertain Environments ◽  
Autonomous Ground Vehicles

AbstractThis paper reviews model predictive control (MPC) and its wide applications to both single and multiple autonomous ground vehicles (AGVs). On one hand, MPC is a well-established optimal control method, which uses the predicted future information to optimize the control actions while explicitly considering constraints. On the other hand, AGVs are able to make forecasts and adapt their decisions in uncertain environments. Therefore, because of the nature of MPC and the requirements of AGVs, it is intuitive to apply MPC algorithms to AGVs. AGVs are interesting not only for considering them alone, which requires centralized control approaches, but also as groups of AGVs that interact and communicate with each other and have their own controller onboard. This calls for distributed control solutions. First, a short introduction into the basic theoretical background of centralized and distributed MPC is given. Then, it comprehensively reviews MPC applications for both single and multiple AGVs. Finally, the paper highlights existing issues and future research directions, which will promote the development of MPC schemes with high performance in AGVs.

Register control of roll-to-roll gravure-offset printing equipment considering time difference between measurement and actuation

2012 ◽  
Vol 226 (11) ◽  
pp. 2726-2738 ◽  
Author(s):  
Chung Hwan Kim ◽  
Ha-Il You ◽  
Seung-Hyun Lee
Keyword(s):  
Measurement System ◽  
Position Control ◽  
Printed Electronics ◽  
Control Method ◽  
Axial Direction ◽  
Time Difference ◽  
Offset Printing ◽  
Drying Time ◽  
Roll To Roll ◽  
The Web

The manufacture of printed electronics by roll-to-roll printing machine requires more accurate register performance than conventional media printing technology. Moreover, high drying temperature and long drying time to sinter the inks can induce the substantial changes in the length of the substrate and consequently register errors. Among the roll-to-roll printing methods, the gravure one, despite its relatively fast productivity and fine-line printing capacity, has difficulty in achieving the required register specifications for printed electronics because of the dependence of the register control on web dynamics. This study proposes a roll-to-roll gravure-offset printing equipment, including the register measurement system designed to enhance register performance and the related register control method for the application of printed electronics. Each cylinder constituting the printing unit is driven independently by an individual servomotor. Moreover, the printing patterns of the plate cylinder can move in the axial direction by position control, as well as in the web transport direction by a phase shift of the plate cylinder, without affecting the dynamics of the web. The time difference between the measurement and the actual control action is considered and modeled. The register measurement system, including selections of sensors and marks is also proposed to consider the effect of the time difference. The simulation results and the experiments of the register control are shown to verify the effect of the time difference on the control performances. It is found that a proper estimation of time difference should be obtained in order to guarantee more accurate and stable control performances.

The Lower Extremity Exoskeleton Coordinated Control Method Based on Human Electromechanical Coupling

2012 ◽  
Vol 220-223 ◽  
pp. 1012-1017
Author(s):  
Qing Guo ◽  
Dan Jiang
Keyword(s):  
Lower Extremity ◽  
Electromechanical Coupling ◽  
Position Control ◽  
Control Method ◽  
Angular Displacement ◽  
Stability Margin ◽  
Hydraulic Cylinder ◽  
Load Force ◽  
Hydraulic Cylinders ◽  
Coupling Characteristics

This paper has introduced electromechanical coupling characteristics in the lower extremity exoskeleton systems, considered model ,according to legs supporting gait when people walking, established the load torque compensation model , and a mathematical model of knee position control system which is made of the servo valve, hydraulic cylinders and other hydraulic components, designed hydraulic cylinder position control loop in case of existing load force interference compensation, and used the method of combining the PID and lead correction network for frequency domain design ,ensured system to meet a certain stability margin. The simulation results show that this position control method can servo on the knee angular displacement of normal human walking, reached a certain exoskeleton boost effect, at the same time, met the needs of human-machine coordinated motion.

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