The middle- and rear-wheel steering angles of a six-wheeled vehicle need to be coordinated with the front-wheel steering angle to obtain the maximum manoeuvrability. A steering control strategy using the linear quadratic regulator technique with integral control is proposed in this paper such that both zero side-slip angle and target yaw rate following can be achieved simultaneously. An estimator to be used with the control law is also designed to provide the estimate of side-slip angle. AutoSim is used to establish a complex vehicle model with tyre dynamics in MATLAB/Simulink. Both open-loop and closed-loop manoeuvres are performed to evaluate the control performance of the proposed strategy.
In order to study the effect of the crank sensor noise on the engine management system (EMS), an algorithm using a closed-loop estimator with stroke identification is proposed to estimate the engine rotational dynamics. Estimated crank angle and engine speed are used for fuel injection and ignition control systems. The closed-loop estimator design is based on a linear model by assuming that the engine rotational inertia is constant. Since the effective inertia actually varies with different crank angles, the stability of the proposed algorithm is assessed using the Lyapunov stability theorem. Performances of the proposed and traditional algorithms are evaluated using a non-linear engine model with a four-plus-one-tooth crankshaft wheel in Matlab/Simulink. The estimated crank angle and engine speed of the traditional algorithm can be significantly affected by large sensor noises resulting from the poorly grounded ignition coil. It was found that the proposed algorithm can mitigate the noise impact and thus maintain the desired engine control performance.
In order to satisfy different requirements for engine design and real-time simulation, modulization technology is used in this paper to establish the engine model for small-scale engines. The model consists of simple and complex modules of charging, torque, friction, and crankshaft dynamics, which are established in Matlab/Simulink and verified using the experimental data. Different sets of these modules can be selected for various applications. For engine design, a complex model, which consists of the wave-action charging module and the mean-value combustion module, is employed to study the effects of inlet and exhaust systems on torque output performance. For real-time simulation, different levels of complexity can be selected according to the hardware-in-the-loop requirement of the control verification.
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