Vehicle path following control in the presence of driver          inputs

Dynamics and vibration of control valves under flow-induced vibration are analyzed. Hydrodynamic load characteristics and structural response under flow-induced vibration are mainly influenced by inertia, damping, elastic, geometric characteristics and hydraulic parameters. The purpose of this work is to investigate the dynamic behavior of control valves in the response to self-excited fluid flow. An analytical and numerical method is developed to simulate the dynamic and vibrational behavior of sliding dam valves, in response to flow excitation. In order to demonstrate the effectiveness of proposed model, the simulation results are validated with experimental ones. Finally, to achieve the optimal valve geometry, numerical results for various shapes of valves are compared. Rounded valve with the least amount of flow turbulence obtains lower fluctuations and vibration amplitude compared with the flat and steep valves. Simulation results demonstrate that with the optimal design requirements of valves, vibration amplitude can be reduced by an average to 30%.

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“…In order to validate the proposed numerical model, results are validated by experimental ones [5,22] in Fig. 12.…”

Section: Resultsmentioning

confidence: 99%

Modeling of fluid-induced vibrations and identification of hydrodynamic forces on flow control valves

Mehrzad

Javanshir

Ranji

et al. 2015

J. Cent. South Univ.

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“…The main objective of this work is to design a linear quadratic controller to improve vehicle dynamic performance [36], which generally consists of the following aspects:…”

Section: Vehicle Model and Lqr Controllermentioning

confidence: 99%

Vehicle roll stability control with active roll-resistant electro-hydraulic suspension

et al. 2019

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This study examines roll stability control for vehicles with an active roll-resistant electro-hydraulic suspension (RREHS) subsystem under steering maneuvers. First, we derive a vehicle model with four degrees of freedom and incorporates yaw and roll motions. Second, an optimal linear quadratic regulator controller is obtained in consideration of dynamic vehicle performance. Third, an RREHS subsystem with an electric servo-valve actuator is proposed, and the corresponding dynamic equations are obtained. Fourth, field experiments are conducted to validate the performance of the vehicle model under sine-wave and double-lane-change steering maneuvers. Finally, the effectiveness of the active RREHS is determined by examining vehicle responses under sinewave and double-lane-change maneuvers. The enhancement in vehicle roll stability through the RREHS subsystem is also verified.

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“…In the module of the look-up table, the measured data of the tires are listed, and the longitudinal slip ratio and the tire side slip angle can be obtained. Finally, the desire wheel angle calculation is as shown in (27) [23], and the desired torque calculation is as shown in (28) [24]. In the module of the look-up table, the measured data of the tires are listed, and the longitudinal slip ratio and the tire side slip angle can be obtained.…”

Section: Actuator Controllermentioning

confidence: 99%

Approach of Coordinated Control Method for Over-Actuated Vehicle Platoon based on Reference Vector Field

et al. 2019

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Featured Application: The proposed method is applied to the coordinated control for over-actuated vehicle platoon with an integrated hierarchical controller.Abstract: Collaborative vehicle platoon control with full drive-by-wire vehicles with four-wheel independent driving and steering (FWIDSV) has attracted broader research interests. However, the problem of cooperative vehicle platoon control in two-dimensional driving scenes remains to be solved. This paper proposes a coupling control method for path tracking and spacing-maintaining based on the reference vector field (RVF). An integrated hierarchical control structure, including the following control layer, tire force allocator layer, and an actuator controlling layer for FWIDSV is presented. Inside, the next control layer was designed according to the spacing control strategy and RVF within the limitation of the friction circle. For verifying the effectiveness of this control method, sufficient conditions for error convergence are analyzed when considering the influence of the critical parameters on the particle dynamics model. The tire force allocator layer is designed based on linear quadratic programming (LQP), which is used to distribute the total forces and yaw moment. The sliding mode control (SMC) is employed to track the desired tire forces in the actuator controlling layer. The proposed control methods are validated through simulation in intelligent cruise control (ICC) and platoon merging scenarios. The results demonstrate an effective FWIDSV platoon control approach that is based on the RVF in the 2-D driving scenes.

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Vehicle path following control in the presence of driver inputs

Cited by 32 publications

References 23 publications

Modeling of fluid-induced vibrations and identification of hydrodynamic forces on flow control valves

Modeling of fluid-induced vibrations and identification of hydrodynamic forces on flow control valves

Vehicle roll stability control with active roll-resistant electro-hydraulic suspension

Approach of Coordinated Control Method for Over-Actuated Vehicle Platoon based on Reference Vector Field

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