Motion-induced vibration can be greatly reduced by properly shaping the reference command. Input shaping is one type of reference shaping method that is based largely on linear superposition. In this paper we document the impact of nonlinear crane dynamics on the effectiveness of input shaping. As typical bridge cranes are driven using Cartesian motions, they behave nearly linearly for low- and moderate-velocity motions. On the other hand, the natural rotational motions of tower cranes make them more nonlinear. The nonlinear equations of motion for both bridge and tower cranes are presented and experimentally verified using two portable cranes. The effectiveness of input shaping on the near-linear bridge crane is explained. Then, a command-shaping algorithm is developed to improve vibration reduction during the more nonlinear slewing motions of the tower crane. Experimental results demonstrate the effectiveness of the proposed approach over a wide range of operating conditions.

To meet the ever increasing requirements for engines and vehicles in the areas of performance, fuel economy, emission, and meanwhile reduce product development time,Hardware-in-the-loop (HIL) simulation is increasingly used in automotive control system development.Engine-in-the-loop (EIL) vehicle simulation, which is a specific form of HIL simulation, is an approach in which a physical engine (together with its control unit) is coupled to virtual vehicle and driver models through a high power, low inertia engine dynamometer in the engine test cell environment. EIL can be used to perform powertrain control development, as well as engine and vehicle performance evaluation. Because of its advantages in repeatability and flexibility etc., especially for transient operating mode study, EIL has become a powerful tool and will be more widely used in the near future.Design and implementation of an EIL vehicle simulation system is described. Driver and vehicle simulation models are developed and executed in real time on a high-speed system controller. A highly responsive permanent magnet AC engine dynamometer and a vehicle acceleration pedal are controlled such that the dynamometer loads the connected engine as a real vehicle would and the simulated vehicle speed trace follows the targeted driving cycle. With this system, developers can perform transient engine control development before whole vehicle integration is available. Vehicle parameters, including driveline configurations can be easily modified and the effect on engine and vehicle performance can be studied. An application example of simulating a 10-15 mode emission test cycle is given. The result verifies the effective performance of the system in simulating vehicle dynamics and shows its great potential in engine and vehicle system development.

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This paper presents the development of real-time (RT) engine and vehicle models for transmission-in-the-loop (TIL) experiments. In this TIL experimental setup, the input side of the transmission is controlled by a dynamometer emulating the engine, whereas the output sides of the transmission are controlled by two dynamometers emulating the wheels. The models emulating these vehicle-components are required to possess sufficient fidelity to simulate engine torque pulse (ETP) and wheel-slip dynamics while being computationally efficient to run in RT. The engine and tire models available in the literature that accurately capture these dynamics are often computationally intensive and not suited for RT simulation. This paper presents the modeling details of a RT semi-empirical engine model and a physics based tire model, capable of accurately emulating the desired dynamic loads for the TIL experiments. Parameters of the engine model are identified using experimental data, and both the models are validated in pure simulation. Finally, open and closed loop test results are presented to demonstrate successful emulation during the TIL experimentation.