Vehicle dynamics and control : advanced methodologies

__**Vehicle Dynamics and Control: Advanced Methodologies**__ features the latest information on advanced dynamics and vehicle motion control, including a comprehensive overview of passenger cars and articulated vehicles, fundamentals, and emerging developments. This book provides a unified, balanced treatment of advanced approaches to vehicle dynamics and control. It proceeds to cover advanced vehicle control strategies, such as identification and estimation, adaptive nonlinear control, new robust control techniques, and soft computing. Other topics, such as the integrated control of passenger cars and articulated heavy vehicles, are also discussed with a significant amount of material on engineering methodology, simulation, modeling, and mathematical verification of the systems. This book discusses and solves new challenges in vehicle dynamics and control problems and helps graduate students in the field of automotive engineering as well as researchers and engineers seeking theoretical/practical design procedures in automotive control systems. Front Matter Copyright Dedication Acknowledgments Foreword Preface Integrated vehicle dynamics and suspension control Introduction Control system design Design of the ESP Lateral force estimator Longitudinal velocity estimation Determination of the yaw moment Braking strategy in the ESP system Design of the ABS Active suspension system design Integration strategy Simulation of the proposed strategies Handling control of the vehicle Suspension system control Integrated control of suspension system and vehicle dynamics Conclusion References Vehicle dynamics control using a flexible body model Introduction Vehicle dynamics control Full vehicle dynamics model Full vehicle dynamics model in ADAMS software Full SEDAN vehicle model Full SEDAN vehicle model with rigid a body The full model of the SEDAN vehicle with a flexible body Fully assembled model of the SEDAN vehicle Vehicle dynamics control using the ADAMS/CONTROL module Preparation of the mechanical model Creating the input state variables Creating the input functions Creating the output state variables and functions Defining the model inputs and outputs Creating a link between the dynamics model and the controller Loading the ADAMS/CONTROL module Plant export process Importing the model to the control software Optimal control of vehicle dynamics Designing the ABS Designing the vehicle dynamics control system using brake torque Determination of the desired vehicle path Distribution of braking forces Dynamics analysis of vehicle handling in the presence of an optimal controller Dynamics handling analyses of the SEDAN vehicle Single lane change analysis on a dry road Step steer analysis on a dry road Conclusion References Integrated vehicle dynamics control using active braking and semiactive suspension systems Introduction The dynamic model of the system The full model of the vehicle with 14 DOFs Tire modeling Random road input modeling MR damper modeling Estimator design using unscented Kalman filter Design of the active subsystems of the chassis Design of the active braking system of the vehicle Active braking system strategy Upper layer control Lower layer control Design of the semiactive suspension system of the vehicle Design of the SAS1 system Design of the SAS2 system Integrated vehicle dynamics control Integrated vehicle dynamics control structure Integrated vehicle dynamics control simulation Ride comfort analysis Handling and stability analyses Conclusion References Trajectory planning and integrated control for high-speed autonomous lane change Introduction Summary of the integrated longitudinal-lateral guidance system Dynamic model Equations of motion for the vehicle Equation of motion for the wheel Tire dynamics Applied rules and important assumptions Trajectory planning Collision avoidance Feasibility analysis of trajectories Integrated longitudinal-lateral control Longitudinal control Lateral control Simulation of integrated longitudinal and lateral vehicle guidance algorithm Simulation results of trajectory planning Simulation results of integrated control Conclusions References String stability and control of a platoon of vehicles Introduction Definitions in the vehicle platoon The intervehicle spacing control policy in a vehicle platoon The constant spacing policy The variable spacing policy Constant time headway policy Variable time headway policy String stability Definition 1 (string stability) [16] Centralized and decentralized control Stability analysis The longitudinal vehicle dynamics model The longitudinal controller of the vehicle Stability The stability based on constant spacing segmentation policy The unidirectional structure The bidirectional structure The stability by the approximation of partial differential equations The stability by using CTCR The stability based on constant headways segmentation policy The unidirectional structure The bidirectional structure String stability analysis The string stability based on constant spacing policy Providing a new theorem in string stability of the unidirectional structure Providing new theorems in string stability of the bidirectional structure The string stability for the model of the approximation of partial differential equations The string stability for CTCR The string stability based on constant headways policy Providing new theorems in string stability of the unidirectional structure Providing a new theorem in string stability of the bidirectional structure Validation based on simulation Stability The stability based on constant spacing policy The unidirectional structure in stability analysis The bidirectional structure in stability analysis The stability by the use of approximation of partial differential equations The stability using CTCR The stability based on constant time headways policy The unidirectional structure in stability analysis The bidirectional structure in stability analysis String stability The string stability based on constant spacing policy The unidirectional structure in string stability analysis The bidirectional structure in string stability analysis The string stability for the model of approximation of partial differential equations The string stability for CTCR The string stability based on the constant time headways policy The unidirectional structure in string stability analysis Bidirectional structure in the string stability analysis Conclusion References Dynamic behavior and stability of an articulated vehicle carrying fluid Introduction Dynamics of articulated vehicles Fluid dynamics Quasistatic methods Dynamics methods for fluid motion Equivalent mechanical model Dynamics modeling of vehicle and fluid inside the tanker Fluid dynamics modeling Calculating the fluid's center of gravity, forces, and moments Type of mesh and number of cells Coupling of the fluid motion model and vehicle dynamics Model sensitivity to the number of cells Numerical dynamics analysis of the articulated vehicle carrying fluid Fixed input-steady steer Effects of fill percentage and viscosity on the dynamics of fluid and vehicle Fill percentage effects Effects of viscosity Effects of the tanker's geometrical shape on the roll response of an articulated vehicle Effects of holder plates on the vehicle dynamics of and fluid motion inside the tanker Lane change maneuver Dynamics of vehicle and fluid at 50% fill percentage Improving the design of baffle plates Improved design A Combinations of patterns to form the optimum shape of baffle plates Combination of cases A and C Combination of cases B and C Conclusion References Adaptive robust controller in lateral dynamics of an articulated vehicle carrying liquid Introduction Performance criteria of an articulated vehicle Handling quality Lateral stability during braking Steady-state off-tracking Transient off-tracking Rearward amplification Static rollover threshold Hazardous behavior modes of an articulated vehicle Lateral instability of liquid-carrying vehicles Dynamics of liquid-carrying heavy vehicles Literature Dynamic modeling of a liquid-carrying articulated vehicle Assumptions and simplifications First system: Articulated vehicle dynamic system Second system: Wheel and tire system Third system: Liquid dynamic system 16-DOF dynamic model of the articulated vehicle System dynamic equations Problem kinematics Equations of motion of longitudinal and lateral dynamics of the tractor unit and the semitrailer unit Tractor unit Semitrailer unit Wheel dynamics Lateral slip angle of the tire Tire dynamics Dynamic modeling of a liquid-carrying articulated vehicle Computing the acceleration of the liquid mass center Dynamic equations of a liquid-carrying articulated vehicle Validation of the dynamic model of the articulated vehicle Double lane-change maneuver Validation of the dynamic model of the liquid-carrying articulated vehicle Selection of the controlled state variables The angular velocity of the tractor unit The lateral velocity of the tractor unit Articulation angle Control system design Active roll control system design Tractor unit Semitrailer unit Active steering control system design Dynamic equations of the simplified model of a liquid-carrying articulated vehicle Stability analysis Active steering control system modification Hybrid control system consisting of the active steering and active roll control systems Performance evaluation of the hybrid control system Fishhook maneuver The adaptive sliding mode controller Standard least-squares method Active roll system parameter estimation Tractor unit Semitrailer unit Active steering system parameter estimation Performance evaluation of the adaptive robust control system Fishhook maneuver Active steering system parameter estimation Active roll system parameter estimation (see Fig. 7.24) Conclusion References Directional stability analysis and integrated control of articulated heavy vehicles Introduction Modeling of an articulated heavy vehicle Introducing the applied coordinate systems in modeling Calculating the velocity and acceleration of the tractor and semitrailer center of masses Tractor unit Semitrailer unit Longitudinal and lateral dynamics motion equations of tractor and trailer units Tractor unit Semitrailer unit Roll and yaw motion equations of tractor and trailer units Tractor unit Semitrailer unit Articulated vehicle dynamics equations and constraint equations Wheel rotational equations of motion Tire normal forces Simplified dynamics model Control variables Tractor yaw velocity and its desired value Lateral velocity and its desired value Articulation angle and its desired value Active steering controller Active steering controller using linear optimal control method Active steering controller using the sliding mode control method Comparison between simulation and performance Brake compared with steering to set directional dynamics Integrated control of braking and steering subsystems Limiting wheel slip ratio The performance of the integrated controller Lane change maneuver Slalom maneuver on the semislippery road Evaluation of the controller robustness against error and noise over control variables Conclusion References Automatic parking of articulated vehicles using a soft computing approach Introduction Modeling the kinematics of motion of an articulated vehicle Extracting optimal steering angle by moving the trailer end along optimal path using inverse kinematics Design of control system Fuzzy control Artificial neural networks Adaptive neuro-fuzzy inference system (ANFIS) Introduction of ANFIS network structure Closed-loop control system for automatic parking of articulated vehicles Computer simulation of articulated vehicle kinematics Training the ANFIS based on expert driver's behavior Closed-loop control system for automatic parking of articulated vehicle Results of applying the ANFIS controller Error calculation Application of inverse kinematic equations in parking maneuvers for articulated vehicles Verification of inverse kinematic equations using computer simulations Training the articulated vehicle with desired data-fed ANFIS for the inverse kinematic method Closed-loop control system with neuro-fuzzy controller in inverse kinematic method Design and implementation of mechanical equipment for articulated vehicle experimental model Conclusion References Trajectory planning of tractor semitrailers Introduction An introduction to tractor semitrailers Steps in automatic vehicle navigation for collision avoidance Path planning Trajectory generation Trajectory generation methods Cubic polynomial trajectory High-degree polynomials Derivation of η4-splines optimal path for a tractor semitrailer Smooth open-loop control of a tractor semitrailer Trajectory generation for tractor semitrailers performing a lane change Trajectory equation Derivation of the kinematic characteristics of the tractor semitrailer Determination of time constraints Situation 1: The articulated vehicle and the front vehicle lie on the same line Situation 2: A vehicle is present on the target lane in front of the articulated vehicle Situation 3: A side vehicle is on the target lane Situation 4: Lane change of the articulated vehicle to the target lane and safe distance from the rear vehicle Situation 5: The most critical lane-change maneuver Test method and minimum time acceptance criterion Validation of the dynamic model Decision-making strategy for the lane change maneuver of the tractor semitrailer Conclusion Appendix References Index A B C D E F G H I K L M N O P Q R S T U V W Vehicle Dynamics And Control: Advanced Methodologies Features The Latest Information On Advanced Dynamics And Vehicle Motion Control, Including A Comprehensive Overview Of Passenger And Articulated Vehicles, Fundamentals, And Emerging Developments In Automotive Engineering. Chapters Cover Advanced Approaches Related To Dynamics And Vehicle Control, Including Driver Assistance And Autonomous Driving Concepts, Vehicle Control Strategies Such As Identification And Estimation, Adaptive Nonlinear Control, New Robust Control Techniques, Soft Computing And Intelligent Control, Integrated Control Of Yaw, Electronic Stability Control, Integrated Control Of Articulated Heavy Vehicles, And Automatic Parking. With A Significant Amount Of Material On Engineering Methodology, Simulation, Modeling, And Mathematical Verification Of The Systems, This Book Is Helpful For Advanced Automotive Engineering Students, Researchers And Engineers Seeking Design Procedures Of Practical/actual Systems And Insights Into Studying, Discussing And Solving Challenging Vehicle Dynamics And Control Problems. Provides A Vast Spectrum Of Advanced Vehicle Dynamics And Control Systems Topics And Current Research Trends Discusses A New Control System Coupled With An Active Roll Control System And An Active Steering Control System To Improve Maneuverability And Jackknifing Prevention Features Recent Advances In Hybrid Electric Vehicle Systems "Vehicle Dynamics and Control: Advanced Methodologies features the latest information on advanced dynamics and vehicle motion control, including a comprehensive overview of passenger cars and articulated vehicles, fundamentals, and emerging developments. This book provides a unified, balanced treatment of advanced approaches to vehicle dynamics and control. It proceeds to cover advanced vehicle control strategies, such as identification and estimation, adaptive nonlinear control, new robust control techniques, and soft computing. Other topics, such as the integrated control of passenger cars and articulated heavy vehicles, are also discussed with a significant amount of material on engineering methodology, simulation, modeling, and mathematical verification of the systems. This book discusses and solves new challenges in vehicle dynamics and control problems and helps graduate students in the field of automotive engineering as well as researchers and engineers seeking theoretical/practical design procedures in automotive control systems."--Page 4 de la couverture