Optimal Nonlinear Control of Vehicle Braking Torques to Generate Practical Stabilizing Yaw Moments

Jafari, M.; Mirzaei, M.; Mirzaeinejad, Hossein

doi:10.15282/ijame.11.2015.41.0222

Cited by 20 publications

(6 citation statements)

References 23 publications

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“…The braking manoeuvre can be categorised into two different modes: 1) controlled or 2) locked-up wheel braking proportional to the brake PF magnitude. To improve safety, heavy vehicles with a shorter braking distance during emergency situations have become a topic of extensive research [5]. The speed of the heavy vehicles has also been recognised as one of the essential concerns in road safety.…”

Section: Introductionmentioning

confidence: 99%

Dynamic simulation of brake pedal force effect on heavy vehicle braking distance under wet road conditions

Zamzamzadeh¹,

Saifizul²,

Ramli³

et al. 2022

Int. J. Automot. Mech. Eng.

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Recent experiences have shown that one of the main causes of heavy vehicle crashes is the braking performance. In particular, when having to decelerate in an emergency situation, such as when an unexpected object is in the road. Thus, the capability of a vehicle to come to a safe stop is one of the most important factors in preventing more accidents. Safe braking distance is influenced by many factors, such as brake pedal force, the vehicle's loading conditions, the travel speed and the road surface conditions. The aim of this study was to analyse the effect of the driver's brake pedal force on braking distance during an emergency situation, allowed for a wide range of heavy vehicle's GVW and speed. This study is carried out by using a multi-body dynamics simulation of a Single Unit Truck based on the validated vehicle model. Braking performance was estimated in terms of braking distance on a straight road with a wet surface. The findings from the braking distance simulation suggest a non-linear relationship between brake pedal force and braking distance. Finally, it reveals that, depending on the wheel lock-up situation, braking distance increases with increasing brake pedal force, and that the braking distance on a wet road is significantly affected by both the heavy vehicle's GVW and speed.

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Section: Introductionmentioning

confidence: 99%

Dynamic simulation of brake pedal force effect on heavy vehicle braking distance under wet road conditions

Zamzamzadeh¹,

Saifizul²,

Ramli³

et al. 2022

Int. J. Automot. Mech. Eng.

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“…toward the front or rear of the machine), so that what is left is a simple formulation of machine dynamics. For discussions on lateral forces and moments not included in this model, see [17][18][19]. When the system is laid out in such a configuration, the dynamics are described simply by doing a force and torque balance on the chassis and wheel, respectively [20].…”

Section: Quarter-car Vehicle Modelmentioning

confidence: 99%

Longitudinal vehicle dynamics model for construction machines with experimental validation

Alexander¹,

Vacca²

2017

Int. J. Automot. Mech. Eng.

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Construction machines represent a particular set of difficulties when modelling their system dynamics. Due to their generally low velocities and unorthodox operating conditions, the standard modelling equations used to simulate the behaviour of highway vehicles can have a poor behaviour for these systems. This paper sets forth a vehicle model which is suitable for construction machines, which travel at low velocities and encounter significant external forces in daily operation. It then shows the work done in validating the machine model with experimental data. First, the overall vehicle dynamics are developed, including a model for the machine behaviour when pushing against a resistive force. Then, a wheel force generation model suitable for low-velocity systems is discussed. Finally, pertinent experimental results are presented. Two different model validation tests were run. Both tests generated results which were matched well by the simulation model. In fact, the model matches experimental data reasonably well for both roading and pushing conditions. This indicates that the modelling methods described in this work are appropriate for the modelling of low-velocity systems such as wheel loaders and other construction machinery.

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“…In the proposed algorithm, the uncertainty term resulting from model reduction is calculated by minimizing the output estimation error at the present time. This approach is in duality with the continuous predictive control presented in references [32][33][34][35]. For the position control actuated with SMA wire, the estimation algorithm only uses the displacement of the mass obtained from the low-cost linear variable differential transformer (LVDT) as the system output.…”

Section: Introductionmentioning

confidence: 99%

Estimation of shape memory alloy actuator dynamics to design reduced‐order position controller with input saturation

Shahir,

Mirzaei,

Farbodi

et al. 2024

IET Control Theory & Appl

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This study focuses on the precise model estimation for a position control problem actuated by a shape memory alloy (SMA) wire. Because the hysteresis characteristic of SMA introduces complexities in system modelling and adds degrees of freedom, a model with reduced order is implemented for controller design. This model is online updated by calculating a complementary term from the measured data to compensate for the SMA actuator dynamics and other parametric uncertainties. The position controller, derived from the formulated reduced‐order model, adapts itself to real conditions and is cost‐effective due to the use of only displacement sensor. The saturation of the control input is modelled within the structure of a constrained optimization problem solved by Karush–Kuhn–Tucker theorem. The boundedness of mean and covariance of tracking error and its derivative is demonstrated by stochastic analysis. The experimental results conducted on a platform incorporating a SMA wire show the efficiency of the proposed system in precisely controlling the position by admissible voltage range. The comparative results with a sliding mode controller indicate higher accuracy for the proposed controller to reduce the effect of uncertainties.

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Optimal Nonlinear Control of Vehicle Braking Torques to Generate Practical Stabilizing Yaw Moments

Cited by 20 publications

References 23 publications

Dynamic simulation of brake pedal force effect on heavy vehicle braking distance under wet road conditions

Dynamic simulation of brake pedal force effect on heavy vehicle braking distance under wet road conditions

Longitudinal vehicle dynamics model for construction machines with experimental validation

Estimation of shape memory alloy actuator dynamics to design reduced‐order position controller with input saturation

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