Vehicle dynamics control (VDC) systems require information about system variables, which cannot be directly measured, e.g. the wheel slip or the vehicle side-slip angle. This paper presents a new concept for the vehicle state estimation under the assumption that the vehicle is equipped with the standard VDC sensors. It is proposed to utilise an unscented Kalman filter for estimation purposes, since it is based on a numerically efficient nonlinear stochastic estimation technique. A planar twotrack model is combined with the empiric Magic Formula in order to describe the vehicle and tyre behaviour. Moreover, an advanced vertical tyre load calculation method is developed that additionally considers the vertical tyre stiffness and increases the estimation accuracy. Experimental tests show good accuracy and robustness of the designed vehicle state estimation concept.
This paper presents a new concept for vehicle dynamics control (VDC). The control of the longitudinal vehicle dynamics is not discussed, since we are assuming that it is much slower and weakly coupled to the lateral and yawing dynamics. The actuators are considered to be the traction and the braking torques of the individual wheels and only the standard sensors of the common VDC system are used. A modular interface to the subordinate wheel control system is provided by choosing the yaw torque as a fictitious control input. The VDC system is designed by means of a two degrees-of-freedom control scheme. It comprises a flatness-based feedforward part and a stabilising feedback part. The reference trajectory generation is introduced for the flat output which is given by the lateral velocity of the vehicle. Thus an advantageous kind of body side-slip angle control is provided with the standard VDC system hardware. Extensive simulation studies show excellent performance of the designed control concept.
In conditions of the practice development of building new production facilities following the concept of Industry 4.0 and the intensification and complication of production processes, the need for a general reduction in costs arises. One of these problems is the lengthening the life of supports of abrasive wheel grinding machines based on the balancing process automation without stopping the machines for maintenance work. This paper proposes a method for numerical calculation of the motion path of the grinding wheel spindle axis during the balancing process. Based on the proposed method, a numerical calculation was carried out and the motion path of the grinding wheel centre was built. As a result of the work, a transient balancing oscillatory process of a damping mode was built. This process does not lead to the forcing of the system in the eigenmode range, which creates prospects for the introduction of this balancing method in the grinding process and reducing production costs.
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