| 1. |
- Deosthale, Eeshan, et al.
(författare)
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Discrete Fault Diagnosis of Structurally Reconfigurable Systems
- 2021
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Ingår i: Journal of Dynamic Systems Measurement, and Control. - : ASME. - 0022-0434 .- 1528-9028. ; 143:10
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Tidskriftsartikel (refereegranskat)abstract
- Fault diagnosis of a certain class of hybrid systems referred to as structurally reconfigurable (SR) systems is complicated. This is because SR systems tend to switch their configuration, which may or may not be faulty. It is important to identify the mode of the SR system along with the corresponding fault if any, in order to facilitate a fault tolerant action. This paper combines discrete fault diagnosis with mode identification for SR systems to achieve two main objectives: Sensor selection for fault detection, isolation and mode identification, and residual selection for mode identification. The framework is built using a structural analysis-based approach to meet these objectives. This framework is demonstrated for a 10-speed Automatic Transmission, which is an illustrative example of SR systems.
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| 2. |
- Fors, Victor, 1990-, et al.
(författare)
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Predictive Force-Centric Emergency Collision Avoidance
- 2021
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Ingår i: Journal of Dynamic Systems, Measurement, and Control, ASME. - : ASME International. - 0022-0434 .- 1528-9028. ; 143:8, s. 081005-081005
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Tidskriftsartikel (refereegranskat)abstract
- A controller for critical vehicle maneuvering is proposed that avoids obstacles and keeps the vehicle on the road while achieving heavy braking. It operates at the limit of friction and is structured in two main steps: a motion-planning step based on receding-horizon planning to obtain acceleration-vector references, and a low-level controller for following these acceleration references and transforming them into actuator commands. The controller is evaluated in a number of challenging scenarios and results in a well behaved vehicle with respect to, e.g., the steering angle, the body slip, and the path. It is also demonstrated that the controller successfully balances braking and avoidance such that it really takes advantage of the braking possibilities. Specifically, for a moving obstacle, it makes use of a widening gap to perform more braking, which is a clear advantage of the online replanning capability if the obstacle should be a moving human or animal. Finally, real-time capabilities are demonstrated. In conclusion, the controller performs well, both from a functional perspective and from a real-time perspective.
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| 3. |
- Kati, Maliheh Sadeghi, et al.
(författare)
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Robust Static Output Feedback With Dynamic Disturbance Feed-Forward for Lateral Control of Long-Combination Vehicles at High Speeds
- 2023
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Ingår i: Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME. - : ASME International. - 0022-0434 .- 1528-9028. ; 145:3
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Tidskriftsartikel (refereegranskat)abstract
- A control strategy is proposed to improve the high-speed lateral performance of an A double (tractor-semitrailer-dolly-semitrailer) combination vehicle using active steering of the dolly axles. The strategy is realized as an H1-type static output feedback (SOFB) based on a previous work, combined with dynamic disturbance feed-forward (DDFF). In order to synthesize DDFF in a way to facilitate performance improvement in practical problems, the disturbance is accurately characterized with the use of a dynamic weighting filter. As a contribution to the existing literature, novel linear matrix inequality (LMI) conditions are derived for this case, which facilitate the synthesis of a robust DDFF controller when the plant depends on uncertain time-varying parameters. An alternative DDFF synthesis method is also provided based on an adaptation of a previous work. The proposed overall controller has a simple structure and is easy to implement from a practical point of view since it requires only the driver steering angle (for feed-forward) and just one articulation angle measurement (for feedback). Obtained using a high-fidelity vehicle model, the simulation results for an example synthesis confirm a significant reduction in the rearward amplifications of the yaw rate and the lateral acceleration as well as the high-speed transient off-tracking during sudden lane change maneuvers.
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| 4. |
- Mendoza Trejo, Omar
(författare)
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Mechatronic Model of a Powertrain With Half Toroidal Continuously Variable Transmission
- 2023
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Ingår i: Journal of dynamic systems, measurement, and control. - : ASME International. - 1528-9028 .- 0022-0434. ; 145
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Tidskriftsartikel (refereegranskat)abstract
- This paper presents a mechatronic model of a powertrain with a half toroidal continuously variable transmission. In this model, the actuator, the load on the output shaft, and the mechanical, electrical, and control dynamics are simultaneously considered. A reduced mathematical model is stated for the half toroidal transmission, where a time-variant transmission ratio is considered to drive different input/output dynamic torques of the powertrain. The dynamic performance of the mechatronic model is shown through three case studies with different inertial/dynamic loads at the output shaft. Simulation results are performed for fixed and automatic transmission ratio changes. The model and simulation results presented in this article extend the options to design, control, and drive mechatronic systems that include a half toroidal continuously variable transmission.
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| 5. |
- Nostrani, Marcos Paulo, et al.
(författare)
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A Method for Designing of Hydraulic Actuators Using Digital Hydraulic Pump and Multichamber Cylinder
- 2023
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Ingår i: Journal of Dynamic Systems Measurement, and Control. - : ASME. - 0022-0434 .- 1528-9028. ; 145:8
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Tidskriftsartikel (refereegranskat)abstract
- Hydraulic actuation systems have a broad range of applications covering almost all areas of manufacturing and production and also the service industry. However, it is usual for systems to have low energy efficiency. In recent decades, due to global environmental concerns, research in the field of digital hydraulics to develop more efficient hydraulic systems has increased. In this paper, an analysis of the possible combinations of chambers in a multichamber cylinder is presented. A mathematical expression is derived to verify the total number of combinations of chambers that it is possible to achieve for a cylinder with four or more chambers and that result in different constant velocities without cavitation occurring. In addition, a digital hydraulic pump is considered a supply unit and, since it has discrete output flow rates, an analytical method to combine the pump with a multichamber cylinder is developed resulting in a total number of cylinder velocities with a required resolution. For application in a positioning system, design guidelines for an actuator using a cylinder with four chambers and a digital hydraulic pump with three fixed displacement units are presented in which an optimization algorithm for the calculation of the cylinder areas and the volumetric displacement of the pumps is applied. The proposed approaches were applied to design a proof-of-concept and the experimental values presented very good accuracy when compared with the results obtained with the model. Closed-loop position control responses show that the system can achieve the required setting time with a smooth movement and steady-state error of around 1 mm.
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| 6. |
- Rahman, Shammi, et al.
(författare)
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Artificial Flow Guidance Method for Combined Off-Tracking and Stability Improvement for Automated Articulated Vehicles
- 2024
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Ingår i: Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME. - 0022-0434 .- 1528-9028. ; 146:3
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Tidskriftsartikel (refereegranskat)abstract
- This paper considers an integrated control method combining autonomous driving and active steering. By using artificial flow guidance (AFG), the steering at all five axles on a tractor–semitrailer are synchronized for precise low-speed path tracking and improved lateral stability. AFG is a motion planning method which uses velocity vectors to guide the motion of the vehicle; here, two modification on AFG are proposed to form the integrated-AFG which improves the transient performance and generalizes the choice of the tracking points. Simulations rendered in TruckMaker show submillimeter level steady-state off-tracking for a broad speed range, with maximum deviation being 1 cm for a high-speed lane change; amplification of trailer lateral motion is also suppressed, with rearward amplification (RWA) < 1 maintained throughout. This control method is robust to changes in key parameters such as trailer mass and road friction coefficient. The methods presented provide a new foundation for implementing automated freight transportation on highways.
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