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![Multiplicative uncertainty bounds for dimensioned form of vehicle dynamics [4].](profile/Ag-Alleyne/publication/4118976/figure/fig1/AS:668983057477633@1536509398018/Multiplicative-uncertainty-bounds-for-dimensioned-form-of-vehicle-dynamics-4.png)
Multiplicative uncertainty bounds for dimensioned form of vehicle dynamics [4].
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This paper demonstrates the use of dimensional analysis for scaled vehicle tires. The motivation for this approach is the understanding of realistic nonlinear tire behavior in scaled vehicle control studies. By examining the behavior of vehicle tires within a dimensionless framework, several key tire parameters are developed that allow for an appro...
Citations
... devices,it is difficult to achieve in the laboratory for its high cost and unable operation (Ramu et al., 2013). Also, simple geometric similarity cannot reflect the dynamics of the actual bridge systems (Oshiro and Alves, 2012). A scale study based on the dimensionless analysis is an effective way to address the problem of real structure modeling.Polley et al. (2004)used dimensional analysis theory to build scale models and investigated dynamics characteristics of vehicle tire.Yazdi et al. (2011)designed a scaled composite beam-plate based on similarity theory. The scale model can predict the flutter pressure of delaminated beam-plate subjected to supersonic airflow accurately.Asl et al. (2014)inves ...
In this article, we proposed a study on the performance of a magneto-rheological elastomer isolator for the vibration isolation of a scaled bridge system. Based on dimensionless analysis of dynamic characteristics of real bridge system, the vibration acceleration and displacement of bridge deck are considered as evaluation indexes. According to the parameters of a scale model for the three-span bridge, a scaled magneto-rheological elastomer isolator prototype is designed and manufactured, and a small-scale test bench is set up to test the performance of magneto-rheological elastomer device for bridge vibration control. The experimental study shows that the bench testing results are consistent with that of theoretical model in terms of the vibration displacement and acceleration. Therefore, the small-scale study of bridge vibration system with magneto-rheological elastomer isolator based on similarity theory reveals the performance of a real bridge system. It shows that the scaled platform can model the vibration performance of a three-span bridge, which provides a fundamental understanding of the MRE isolator in the applications for the full-scale bridge system.
... In [12] and [13] different approaches based on energy were presented to obtain the vehicle model with the tire/road interaction for the ABS. In [14] a more detailed study of the vehicle and tire dynamics was presented. In [15] a pneumatic braking system with ABS is modeled and simulated with an object-oriented approach. ...
Event-Triggered control is a resource-aware sampling strategy that updates the control value when a certain condition is satisfied, which denotes event instants. Such technique allows to reduce the control computational cost and communications. In this paper an Event-Triggered linear control for an Antilock Braking System is developed and simulated using the mathematical model of the ABS laboratory setup, manufactured by INTECO. The proposed feedback ensures the asymptotically stability of the ABS.
... In [10] and [11] different approaches based on energy were presented to obtain the vehicle model with the tire/road interaction for the ABS. In [12] a more detailed study of the vehicle and tire dynamics was presented. In [13] a pneumatic braking system with ABS is modeled and simulated with an object-oriented approach. ...
Two control techniques are developed for a quarter of a vehicle ABS, Antilock Braking System, using a laboratory setup, manufactured by INTECO. A space-state mathematical model was obtained from the system. The first technique is a basic PID controller and the second one is a nonlinear control method through error feedback using Lyapunov function techniques. Finally, both controllers are simulated using the mathematical model and then compared.
... References [14] and [15] studied stability control algorithms with a scaled vehicle. Reference [16] studied tire characteristics with scaled tries. Reference [17] presents the Buckingham theorem that can be used to study if a scaled vehicle has dynamics similar to a full-sized vehicle. ...
Accurate detection of the danger of an impending rollover is necessary for active vehicle rollover prevention. A real-time rollover index is an indicator used for this purpose. A traditional rollover index utilizes lateral acceleration measurements and can detect only un-tripped rollovers that happen due to high lateral acceleration from a sharp turn. It fails to detect tripped rollovers that happen due to tripping from external inputs such as forces when a vehicle strikes a curb or a road bump. Therefore, this paper develops a new rollover index that can detect both tripped and un-tripped rollovers. The new rollover index utilizes vertical accelerometers in addition to a lateral accelerometer and is able to predict rollover in spite of unknown external inputs acting on the system. The accuracy of the developed rollover index is evaluated with experimental tests on a 1/8th scaled vehicle. The experimental results show that the new rollover index can reliably detect both tripped and un-tripped rollovers.
... The goal of this work is to apply the use of dimensionless variables, as defined by the Pi Theorem [14, 15, 16], to hybrid electric vehicle powertrain components for the purpose of taking into account the relevant scaling effects. Similar work has been conducted before [12, 17, 18, 20, 21], but not on the components mentioned herein. Dimensional analysis has its roots in work by Euler, Newton, Fourier, Maxwell, and Rayleigh [17]. ...
Hardware-in-the-loop (HIL) simulation enables experimental study of prototype hardware systems or control algorithms via real time interaction between physical hardware and virtual simulations. As a result, this method is a particularly valuable tool for hybrid vehicle powertrain analysis. In the case where novel or prototype hardware is being examined, it is often necessary to scale the signals in and out of the prototype system in order to represent production-sized components. This scaling process is often done in an ad-hoc manner. In this work, a formal method is presented that derives appropriate input/output signal conditioning to correctly scale electric vehicle components, particularly the following subsystems: electric motor and battery pack.
... Goldfarb [30] defined a set of necessary and sufficient conditions to preserve dynamic similarity in a bilateral manipulation problem. Poiley and Alleyne [31] demonstrated that certain non-linear tire characteristics can be expressed in a nondimensional framework and shown to be dynamically similar to full-sized tires. It is also interesting to note an implication of the dynamic invariance principle in linear systems theory. ...
A design technique that adapts or scales a system design to meet new requirements is developed. This scaling technique is potentially useful because it focuses on retaining existing desirable characteristics (e.g., efficiency, stability) of the original design through minimal modifications. Previous work in the literature explored this notion by developing scaling techniques based on the dynamic similitude principle. However, such similitude-based scaling is often found too restrictive because it may not be feasible to satisfy all of the scaling laws designated by the similitude principle exactly. Moreover, the literature only defines such similitude discretely in terms of whether the scaled design satisfies these scaling laws. This definition then makes it impossible to assess the degree to which two designs are close to satisfy similitude. The work in this dissertation mitigates these difficulties as follows:
First, it uses a novel combination of activity-based model reduction and dimensional analysis to assess the relative importance of each scaling law and permit neglecting the least important ones, thereby providing more freedom than strict similitude-based scaling. Next, a metric is developed to cope with the situation in which the most important scaling law(s) cannot be followed due to other conflicting requirements and constraints. This metric allows one to quantify approximate similitude, that is, the degree to which the scaled design is close to satisfying the discrete definition of exact similitude. Then, this quantification is utilized in a multiobjective scaling framework that trades off approximate similitude versus the conflicting requirements and constraints.
The applicability of the methodology is demonstrated through three case studies. The first study applies the methodology to a linear quarter-car system to scale the chassis vibrations. The second study scales a fuel cell’s nonlinear air supply system subject to different power requirements. The last case study represents a scaling design study of a complex multi-body dynamic vehicle design to maintain rollover safety properties when subject to extra roof-top loads. These examples demonstrate that the proposed method does provide a systematic, computationally efficient approach to redesign as compared with casting the redesign as an optimization problem.
Four-Wheeled Autonomous Vehicles have emerged as an innovative technology with significant potential to revolutionize the transportation industry. In the past decade, research efforts in this field aim to develop strategies ranging from the development of Advanced Driver Assistance Systems (ADAS) to the creation of fully autonomous navigation strategies. In this context, mathematical models of the four-wheeled robots are an essential part of developing autonomous navigation techniques. Whether using complete or simplified mathematical models of the vehicle, the control synthesis requires accurate model parameters. This work presents experimental methods to obtain some of the main physical parameters that determine the dynamic model of four-wheeled vehicles, including its mass, center of gravity, and principal moments of inertia. The uncertainties of these measurements are presented aiming to estimate the reliability and precision of the results obtained. Furthermore, a cornering stiffness estimation method based on the vehicle lateral dynamics is proposed. Experimental results obtained from a four-wheeled 1:5 scaled electrical vehicle, with real electronic differential distribution are presented.
A magnetorheological fluid squeeze-mode isolator is proposed to improve the vibration isolation performance of a subway floating slab track system. However, it is difficult to carry out the test for the full-scale track vibration isolation system in the laboratory. The research is based on scale analysis of the floating slab track system, from the point view of the dimensionless of the dynamic characteristics of physical quantity, to establish a small-scale test bench system for the magnetorheological fluid isolators. A small-scale magnetorheological fluid device with squeeze mode is designed, and its performance is tested. The experimental results showed that the squeeze-mode magnetorheological fluid Isolators can provide a large range of damping force for energy dissipation with a small amount of input electric power. The major parameters of a small-scale test bench are obtained according to the similarity theory. The force transmissibility ratio and the relative acceleration transmissibility ratio are selected as evaluation index of system similarity. Furthermore, a test bench is built according to the small-scale model parameter analysis. The experimental studies showed that the bench testing results were consistency with that of theoretical model in evaluating the vibration force and acceleration. Therefore, the small-scale study of magnetorheological track vibration isolation system based on similarity theory reveals the isolation performance of a real slab track prototype system.
A magneto-rheological bearing (MRB) is proposed to improve the vibration isolation performance of a floating slab track system. However, it’s difficult to carry out the test for the full-scale track vibration isolation system in the laboratory. In this paper, the research is based on scale analysis of the floating slab track system, from the point view of the dimensionless of the dynamic characteristics of physical quantity, to establish a small scale test bench system for the MRBs. A small scale MRB with squeeze mode using magneto-rheological grease is designed and its performance is tested. The major parameters of a small scale test bench are obtained according to the similarity theory. The force transmissibility ratio and the relative acceleration transmissibility ratio are selected as evaluation index of system similarity. Dynamics of these two similarity systems are calculated by MATLAB experiment. Simulation results show that the dynamics of the prototype and scale models have good similarity. Further, a test bench is built according to the small-scale model parameter analysis. The experiment shows that the bench testing results are consistency with that of theoretical model in evaluating the vibration force and acceleration. Therefore, the small-scale study of magneto-rheological track vibration isolation system based on similarity theory reveals the isolation performance of a real slab track prototype system.
This paper introduces a module-based algorithm for building roads for the virtual environment. The road profiles are developed using road modules designated for driving simulator platforms. These modules developed from mathematical representations of the road geometry are linked together using specific connectivity conditions in accordance with the current road design standards. Such modular approach can be useful to build a low-cost virtual reality environment with an increased degree of realism for driving simulators and higher user flexibility.
