Path-following steering control for articulated vehicles

Passive steering systems have been used for some years to control the steering of trailer axles on articulated vehicles. These normally use a 'command steer' control strategy, which is designed to work well in steady-state circles at low speeds, but which generates inappropriate steer angles during transient low-speed maneuvers and at high speeds. In this paper, 'active' steering control strategies are developed for articulated heavy goods vehicles. These aim to achieve accurate path following for tractor and trailer, for all paths and all normal vehicle speeds, in the presence of external disturbances. Controllers are designed to implement the path-following strategies at low and high speeds, whilst taking into account the complexities and practicalities of articulated vehicles. At low speeds, the articulation and steer angles on articulated heavy goods vehicles are large and small-angle approximations are not appropriate. Hence, nonlinear controllers based on kinematics are required. But at high-speeds, the dynamic stability of control system is compromised if the kinematics-based controllers remain active. This is because a key state of the system, the side-slip characteristics of the trailer, exhibits a sign-change with increasing speeds. The low and high speed controllers are blended together using a speed-dependent gain, in the intermediate speed range. Simulations are conducted to compare the performance of the new steering controllers with conventional vehicles (with unsteered drive and trailer axles) and with vehicles with command steer controllers on their trailer axles. The simulations show that active steering has the potential to improve significantly the directional performance of articulated vehicles for a wide range of conditions, throughout the speed range. © VC 2013 by ASME.

Networked control system for the guidance of a four-wheel steering agricultural robotic platform

A current trend in the agricultural area is the development of mobile robots and autonomous vehicles for precision agriculture (PA). One of the major challenges in the design of these robots is the development of the electronic architecture for the control of the devices. In a joint project among research institutions and a private company in Brazil a multifunctional robotic platform for information acquisition in PA is being designed. This platform has as main characteristics four-wheel propulsion and independent steering, adjustable width, span of 1,80m in height, diesel engine, hydraulic system, and a CAN-based networked control system (NCS). This paper presents a NCS solution for the platform guidance by the four-wheel hydraulic steering distributed control. The control strategy, centered on the robot manipulators control theory, is based on the difference between the desired and actual position and considering the angular speed of the wheels. The results demonstrate that the NCS was simple and efficient, providing suitable steering performance for the platform guidance. Even though the simplicity of the NCS solution developed, it also overcame some verified control challenges in the robot guidance system design such as the hydraulic system delay, nonlinearities in the steering actuators, and inertia in the steering system due the friction of different terrains. Copyright © 2012 Eduardo Pacincia Godoy et al.

Development and evaluation of steering assembly countermeasures. Final report.

National Highway Traffic Safety Administration, Washington, D.C.

Power steering failure study. Volume II: technical report. Final report.

National Highway Traffic Safety Administration, Washington, D.C.

Power steering failure study. Volume I: executive summary. Final report.

National Highway Traffic Safety Administration, Washington, D.C.

Análise tribológica na interface aço carbono SAE 1020 e poliamida 11 em sistemas de deslizamento automotivos

Sistemas deslizantes com interface formada com aços baixa liga e polímeros variados são vastamente utilizados na indústria automotiva em sistemas de transmissão de torque submetidas à carregamento axial. Geralmente esses sistemas são acoplados aos sistemas de direção e interagem quase diretamente com o usuário final do veículo. Para conhecer as condições de desgaste mais severas as quais esses sistemas são submetidos e tentar minimiza-las, foi proposta a análise tribológica, em tribômetro do tipo pino-no-disco, da interface aço SAE 1020 com poliamida 11 em água destilada, solução aquosa com 5% em massa de cloreto de sódio e solução aquosa com 184,21 g/l. de areia natural, de acordo com as normas técnicas automotivas VW PV1210:2010-02 e VW PV2982:2013-07. Os ensaios foram realizados em frequências de 3,0 Hz e 1,5 Hz com quantidade fixada em 10.000 ciclos de rotação. O potencial de corrosão em circuito aberto foi monitorado ao longo dos ensaios e a taxa de desgaste foi calculada. Foram evidenciados maiores coeficientes de atrito, maiores taxas de desgaste e maiores amplitudes de potencial de corrosão nas amostras ensaiadas em solução de areia; com valores mais brandos para as amostras ensaiadas em água destilada e valores intermediários para as amostras ensaiadas em solução de cloreto de sódio.

Metodologia para ensaio de sistemas de direcionamento via satélite em percursos retos e curvos

Pós-graduação em Agronomia (Energia na Agricultura) - FCA

Otimização da estrutura metalica para um carro alegórico

Carnival is a unique opportunity for the associations demonstrate the community’s annual work and the float is a major component of this celebration, responsible for pitch the samba using allegories and carry important figures. The excess weight of the floats which are mostly manufactured from truck and bus structures requires larger amount of people to push the vehicle in addition to increased efforts on the steering systems, suspension and wheels, raising the probability of breakage and loss of one year work. The objective of this study is to use the concepts of strength of materials combined with computer simulation to obtain a structure that has the lowest possible weight without compromising the safety of transported components and that is also easy to manufacture, drive and store

Model Predictive Control for Vehicle Stabilization at the Limits of Handling

Recent developments in vehicle steering systems offer new opportunities to measure the steering torque and reliably estimate the vehicle sideslip and the tire-road friction coefficient. This paper presents an approach to vehicle stabilization that leverages these estimates to define state boundaries that exclude unstable vehicle dynamics and utilizes a model predictive envelope controller to bound the vehicle motion within this stable region of the state space. This approach provides a large operating region accessible by the driver and smooth interventions at the stability boundaries. Experimental results obtained with a steer-by-wire vehicle and a proof of envelope invariance demonstrate the efficacy of the envelope controller in controlling the vehicle at the limits of handling.

Adaptive control of sinusoidal brushless DC motor actuators

Electrical Power Assisted Steering system (EPAS) will likely be used on future automotive power steering systems. The sinusoidal brushless DC (BLDC) motor has been identified as one of the most suitable actuators for the EPAS application. Motor characteristic variations, which can be indicated by variations of the motor parameters such as the coil resistance and the torque constant, directly impart inaccuracies in the control scheme based on the nominal values of parameters and thus the whole system performance suffers. The motor controller must address the time-varying motor characteristics problem and maintain the performance in its long service life. In this dissertation, four adaptive control algorithms for brushless DC (BLDC) motors are explored. The first algorithm engages a simplified inverse dq-coordinate dynamics controller and solves for the parameter errors with the q-axis current (iq) feedback from several past sampling steps. The controller parameter values are updated by slow integration of the parameter errors. Improvement such as dynamic approximation, speed approximation and Gram-Schmidt orthonormalization are discussed for better estimation performance. The second algorithm is proposed to use both the d-axis current (id) and the q-axis current (iq) feedback for parameter estimation since id always accompanies iq. Stochastic conditions for unbiased estimation are shown through Monte Carlo simulations. Study of the first two adaptive algorithms indicates that the parameter estimation performance can be achieved by using more history data. The Extended Kalman Filter (EKF), a representative recursive estimation algorithm, is then investigated for the BLDC motor application. Simulation results validated the superior estimation performance with the EKF. However, the computation complexity and stability may be barriers for practical implementation of the EKF. The fourth algorithm is a model reference adaptive control (MRAC) that utilizes the desired motor characteristics as a reference model. Its stability is guaranteed by Lyapunov’s direct method. Simulation shows superior performance in terms of the convergence speed and current tracking. These algorithms are compared in closed loop simulation with an EPAS model and a motor speed control application. The MRAC is identified as the most promising candidate controller because of its combination of superior performance and low computational complexity. A BLDC motor controller developed with the dq-coordinate model cannot be implemented without several supplemental functions such as the coordinate transformation and a DC-to-AC current encoding scheme. A quasi-physical BLDC motor model is developed to study the practical implementation issues of the dq-coordinate control strategy, such as the initialization and rotor angle transducer resolution. This model can also be beneficial during first stage development in automotive BLDC motor applications.

VuLF – Entwicklung eines Versuchsstandes zur Fehlerminimierung durch Fahrzeuganalyse

Fahrerlose Transportsysteme (FTS) kommen in der Intralogistik immer mehr zum Einsatz. Dabei wer-den neue Anforderungen an die FTS gestellt, die bisherige Aufgaben weit übersteigen. Der Transport von schweren Lasten und die Fahrt mehrere FTS in einer Formation sind dabei nur der Anfang einer Menge zukünftiger Einsatzgebiete. Große Probleme stellen dabei Schlupf und Verschleiß dar, die bisher noch kaum erforscht sind, welche die Performance der Fahrzeuge jedoch stark beeinträchtigen. Um diese Fehlerquellen besser verstehen zu können, wurde ein Versuchsstand entwickelt, mit dessen Hilfe Einzelfahrten aber auch Formationsfahrten in Bezug auf Schlupf und Verschleiß besser untersucht werden können. Dabei kann ein sehr breites Spektrum an Fahrzeugarten abgedeckt werden, da Parameter wie Lenksysteme oder Bereifung variabel gewählt werden können.

Development of vehicles-in-use sub-limit maneuvers. Volume II: technical report. Final report.

National Highway Traffic Safety Administration, Crash Avoidance Research Division, Washington, D.C.

Development of vehicles-in-use sub-limit maneuvers. Volume I: summary report. Final report.

National Highway Traffic Safety Administration, Crash Avoidance Research Division, Washington, D.C.