scholarly journals Method of Improving Lateral Stability by Using Additional Yaw Moment of Semi-Trailer

Energies ◽  
2020 ◽  
Vol 13 (23) ◽  
pp. 6317
Author(s):  
Zhenyuan Bai ◽  
Yufeng Lu ◽  
Yunxia Li
Keyword(s):  
Reference Model ◽  
Slip Rate ◽  
Stability Control ◽  
Vital Role ◽  
Simulation Software ◽  
Dynamics Simulation ◽  
Driving Safety ◽  
Lateral Stability ◽  
Matlab Simulink ◽  
Braking Torque

The lateral stability control of tractor semi-trailer plays a vital role for enhancing its driving safety, and the distributed electric drive structure of a hub motor creates opportunities and challenges for realising the lateral stability accurately. Based on the dynamics simulation software TruckSim, a nonlinear dynamic tractor semi-trailer model is established, and a MATLAB/Simulink linear three-degree-of-freedom monorail reference model is established. The upper controller adopts fuzzy proportional–integral–derivative control to export active yaw torque values of the tractor and semi-trailer. The lower controller outputs the driving/braking torque of each wheel according to the target wheel driving/braking rules and torque distribution rules. The tractor produce an active yaw torque through conventional differential braking the hub motor is installed on both sides of the semi-trailer, and the active yaw torque is produced by the coordinated control of the driving/braking torque of the hub motor and the differential braking of the mechanical braking system. To prevent wheel locking, the slip rate of each wheel is controlled. Finally, based on the TruckSim–MATLAB/Simulink cosimulation platform, cosimulation is performed under typical working conditions. The simulation results show that the control strategy proposed in this report is superior to the conventional differential braking control (ESP). It can not only improve the lateral stability of the vehicle more effectively, but also improve the roll stability.

Lateral Stability Control Design for Tractor Semitrailer Based on Virtual Prototyping

2010 ◽  
Vol 118-120 ◽  
pp. 728-732
Author(s):  
Shu Wen Zhou ◽  
Si Qi Zhang ◽  
Guang Yao Zhao
Keyword(s):  
High Speed ◽  
Virtual Prototyping ◽  
Control Design ◽  
Stability Control ◽  
Simulation Software ◽  
Dynamics Simulation ◽  
Lateral Stability ◽  
Analysis Model ◽  
Vehicle Model ◽  
Yaw Rate

Tractor semitrailers on high speed obstacle avoidance under emergency are likely to arise rollover or jack-knifing, which are serious risks for motorists. A dynamic stability analysis model of a three-axle tractor semitrailer vehicle is developed using the application tool. The linearized vehicle model is utilized to predict the dynamics state of the tractor semitrailer built in multibody dynamics simulation software. The lateral stability simulation for yaw rate following and anti-rollover has been performed on the dynamic model based on virtual prototyping. The results show that the lateral stability control based on tractor semitrailer proposed in this paper can stabilize the tractor semitrailer, rollover and jack-knifing can be prevented to a large extent.

Vehicle Direct Yaw Moment Control with Longitudinal Forces Distribution

2014 ◽  
Vol 709 ◽  
pp. 331-334
Author(s):  
Man Hong Huang ◽  
Huan Shen ◽  
Yun Sheng Tan
Keyword(s):  
Control System ◽  
Reference Model ◽  
Sliding Mode ◽  
Stability Control ◽  
Yaw Rate ◽  
Vehicle Stability Control ◽  
Braking Torque ◽  
Stability Control System ◽  
Yaw Moment Control ◽  
Yaw Moment

In this paper, a vehicle stability control system is proposed to improve vehicle comfort, handling and stability. The control system includes reference model, DYC controller and Distributer. Reference model is used to obtain the desired yaw rate. DYC controller determines the desired yaw moment by means of sliding-mode technique. Distributer, based on maneuverability and comfort, distributes driving torque or braking torque according to the desired yaw rate. Simulation result shows that the proposed control algorithm can improve vehicle handling and stability effectively.

scholarly journals Stability Control and Turning Algorithm of an Alpine Skiing Robot

Sensors ◽  
2019 ◽  
Vol 19 (17) ◽  
pp. 3664 ◽  
Author(s):  
Si-Hyun Kim ◽  
Bumjoo Lee ◽  
Young-Dae Hong
Keyword(s):  
Humanoid Robot ◽  
Control Method ◽  
Stability Control ◽  
Simulation Software ◽  
Dynamics Simulation ◽  
Alpine Skiing ◽  
Turning Radius ◽  
Pass Through ◽  
The Many ◽  
Robot Platform

This paper proposes a general stability control method that uses the concept of zero-moment-point (ZMP) and a turning algorithm with a light detection and ranging (LiDAR) sensor for a bipedal alpine skiing robot. There is no elaborate simulator for skiing robots since the snow has complicated characteristics, such as compression and melting. However, real experiments are laborious because of the many varied skiing conditions. The proposed skiing simulator could be used, so that a humanoid robot can track its desired turning radius by modeled forces that are similar to real ones in the snow. Subsequently, the robot will be able to pass through gates with LiDAR sensors. By using ZMP control, the robot can avoid falling down while tracking its desired path. The performance of the proposed stabilization method and autonomous turning algorithm are verified by a dynamics simulation software, Webots, and the simulation results are obtained while using the small humanoid robot platform DARwIn-OP.

scholarly journals Stability control of in-wheel motor driven vehicle based on extension pattern recognition

2020 ◽  
Vol 103 (4) ◽  
pp. 003685042095853
Author(s):  
Wang Hongbo ◽  
Sun Youding ◽  
Tan Hongliang ◽  
Lu Yongjie
Keyword(s):  
Pattern Recognition ◽  
Reference Model ◽  
Stability Control ◽  
Joint Control ◽  
Vehicle Stability ◽  
Sideslip Angle ◽  
Distribution Method ◽  
Matlab Simulink ◽  
Yaw Rate ◽  
Control Pattern

According to the characteristics that the torque of each wheel of the in-wheel motor driven vehicle is independent and controllable, the stability control of in-wheel motor driven vehicle based on extension pattern recognition method is proposed in this paper. The dynamic model of the vehicle is established by Matlab/Simulink and Carsim. Taking two-degree-of-freedom (2-DOF) vehicle model as reference model, the vehicle yaw rate and the sideslip angle as the control objectives. The differences between the actual values and the reference values of the yaw rate and the actual sideslip angle are used to define the vehicle stability status. The vehicle stability status is divided into four stability control patterns, which are the no control pattern, the yaw rate control pattern, the yaw rate and sideslip angle joint control pattern, and the sideslip angle control pattern, respectively. The extension pattern recognition algorithm is used to determine the vehicle control pattern. The fuzzy controllers of yaw rate and sideslip angle are designed to obtain the additional yaw moment. Besides, the optimal torque distribution method is proposed by taking the lowest total energy loss of four motors as the objective function. The feasibility and effectiveness of the proposed control strategy are verified by Matlab/Simulink and Carsim joint simulation platform and hardware-in-the-loop (HIL) test.

Vehicle Dynamics Control for Tractor Semitrailer Lateral Stability

2009 ◽  
Vol 16-19 ◽  
pp. 544-548 ◽  
Author(s):  
Shu Wen Zhou ◽  
Hai Shu Chen ◽  
Si Qi Zhang ◽  
Li Xin Guo
Keyword(s):  
Rigid Body ◽  
Vehicle Dynamics ◽  
High Speed ◽  
Stability Control ◽  
Dynamics Simulation ◽  
Lateral Stability ◽  
Yaw Rate ◽  
The Stability ◽  
Vehicle Dynamics Control ◽  
Body Method

Rollover and jack-knifing of tractor semitrailer on high speed obstacle avoidance under emergency are serious threats for motorists. A tractor semitrailer model was built with multi-rigid-body method in this paper. The steering performance of tractor semitrailer has been analyzed, as well as the stability control theory, including yaw rate following, anti-rollover. The dynamics simulation for yaw rate following and anti-rollover has been performed on the dynamic tractor semitrailer. The results show that the vehicle dynamics control proposed in this paper can stabilize the tractor semitrailer, rollover and jack-knifing are prevented and the tractor semitrailer more accurately follows the driver's desired path.

Multi-layer controller with state-constraint: Vehicle lateral stability control based on fuzzy logic

2021 ◽  
pp. 095440702110142
Author(s):  
Neng Wan ◽  
Guangping Zeng ◽  
Chunguang Zhang ◽  
Dingqi Pan ◽  
Songtao Cai
Keyword(s):  
Control System ◽  
Integrated Control ◽  
State Constraint ◽  
Stability Control ◽  
Lateral Stability ◽  
System A ◽  
Velocity Reduction ◽  
Vehicle Velocity ◽  
Allowable Range ◽  
Simulation Results

This paper deals with a new state-constrained control (SCC) system of vehicle, which includes a multi-layer controller, in order to ensure the vehicle’s lateral stability and steering performance under complex environment. In this system, a new constraint control strategy with input and state constraints is applied to calculate the steady-state yaw moment. It ensures the vehicle lateral stability by tracking the desired yaw rate value and limiting the allowable range of the side slip. Through the linkage of the three-layer controller, the tire load is optimized and achieve minimal vehicle velocity reduction. The seven-degree-of-freedom (7-DOF) simulation model was established and simulated in MATLAB to evaluate the effect of the proposed controller. Through the analysis of the simulation results, compared with the traditional ESC and integrated control, it not only solves the problem of obvious velocity reduction, but also solves the problem of high cost and high hardware requirements in integrated control. The simulation results show that designed control system has better performance of path tracking and driving state, which is closer to the desired value. Through hardware-in-the-loop (HIL) practical experiments in two typical driving conditions, the effectiveness of the above proposed control system is further verified, which can improve the lateral stability and maneuverability of the vehicle.

Case Study on Modeling Fire Action Complexity in Fire Safety Engineering of Structures

2017 ◽  
Vol 21 ◽  
pp. 102-107
Author(s):  
Constantin Sorin Scutarasu ◽  
Dan Diaconu-Şotropa ◽  
Marinela Barbuta
Keyword(s):  
Numerical Simulation ◽  
Fire Safety ◽  
Simulation Software ◽  
Dynamics Simulation ◽  
Structural Safety ◽  
Modular Organization ◽  
Field Of Study ◽  
Safety Design ◽  
Fire Safety Design ◽  
Technical Regulations

Important goals in the fire safety design, such as preventing loss of life and goods damage, are achieved by maintaining the stability of structures exposed to fire for a period of time established by norms and standards. Real fire scenarios confirm that the specific technical regulations which actually have a prescriptive character (both national and international) do not deal with sufficient possibilities regarding the assessment of structural fire safety. The new approach on structural safety, based on engineering notions, gives us additional prospects on it and it is included in the issues of the fire safety design of structures. A relatively new field of study, known by a few professionals focused on fire safety (but well acknowledged in the research area), fire safety design met with lots of changes and restructuring of the governing concepts and procedures and of the information with which they operate, due to the fast accumulation of experience in this area of engineering activity. Consequently, after countries such as Australia, Canada, New Zeeland or USA provided towards professionals specific technical regulations for fire safety design, groups of experts in these aforementioned countries have joined their forces to try to diminish the differences that exists between those regulations and to give a unitary character to them, a better conceptualized engineering approach of the fire safety design. The result: occurrence of the publication International Fire Engineering Guidelines (last edition from 2005). The systematic approach of fire safety design in constructions pointed, once again, the possibility of modular organization of this field of study, the relations between modules being established according to the objective or objectives in the fire safety design for a specified building. This article aims to put forward, from this modularized perspective, the study of the fire safety design of a building exposed to fire; hence, the practical part of the article exhibits the numerical simulation of initialization and development of the fire process for a large scale religious building. The main features of the building represent the amount of space that facilitates the spreading of smoke and warm gases and which increases the risk of damaging the structural reinforced concrete elements. Application calls to specific numerical simulation with a higher degree of credibility, such as those realized by the FDS (Fire Dynamics Simulation) software.

The Application of Second-Developed ADAMS on Simulation of Individual Soldier Automatic Weapon

2012 ◽  
Vol 182-183 ◽  
pp. 1056-1059
Author(s):  
Yan Jun Zhao ◽  
Wen Qing Ge ◽  
Cheng Xu
Keyword(s):  
Simulation Software ◽  
Dynamics Simulation ◽  
Design Efficiency ◽  
Parameter Modification

Based on ADAMS, The dynamics simulation software of individual soldier automatic weapon was developed. Parameter modification, remodeling, dynamics simulation, simulation replay, obtain and save of results of Individual Soldier Automatic weapon model by finely Chinese interface were completed. The software brings convenient for user,and improves design efficiency. The results show that the software is reliable.

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