Barys Shyrokau

Hardware-in-the-loop test rig for integrated vehicle control systems

Abstract The paper introduces the architecture and technical realization of the hardware-in-the-loop (HIL) platform designed specifically for development and testing of integrated vehicle control systems. Starting with the formulation of functional and configuration requirements, the work explains a concept of new HIL test rig and describes its main components. The proposed HIL platform allows integrated testing of different configurations of brake systems, steering, and dynamic tyre pressure control. The case study illustrates operation of the test rig.

Coordination of Steer Angles, Tyre Inflation Pressure, Brake and Drive Torques for Vehicle Dynamics Control

During vehicle operation, the control objectives of stability, handling, energy consumption and comfort have different priorities, which are determined by road conditions and driver behavior. To achieve better operation characteristics of vehicle, coordinated control of vehicle subsystems is actively used. The fact of more active vehicle subsystems in a modern passenger car provides more flexibility for vehicle control and control algorithm development. Since the modern vehicle can be considered as over-actuated system, control allocation is an effective control technique to solve such kind of problem. This paper describes coordination of frictional brake system, individual-wheel drive electric motors, active front and rear steering, active camber mechanisms and tyre pressure control system. To coordinate vehicle subsystems, optimizationbased control allocation with dynamic weights is applied. The influence of different weights (subsystem restriction) on criteria of vehicle dynamics (RMSE of yaw rate, sideslip angle, dynamic tyre load factor) and energy consumption and losses (consumed/recuperated energy during maneuver, longitudinal velocity decline, tyre energy dissipation) were analyzed. Based on this analysis, the optimal solution was selected. The proposed control strategy is based on the switching between optimal criteria related to vehicle safety and energy efficiency during vehicle motion. Dynamic weights were utilized to achieve this switching. The simulation-based analysis and evaluation of both variants was carried out using a nonlinear vehicle model with detailed models of actuators. The test maneuver is ‘Sine with Dwell’. Both variants of control allocation guarantees vehicle stability of motion and good handling. Meanwhile, proposed variant demonstrates slightly higher longitudinal velocity at the end of maneuver and higher amount of recuperated energy up to 15%; however, tyre dissipation energy increased to 5% compared to optimal solution from simulation-based analysis. CITATION: Shyrokau, B. and Wang , D., Coordination of Steer Angles, Tyre Inflation Pressure, Brake and Drive Torques for Vehicle Dynamics Control, SAE Int. J. Passeng. Cars Mech. Syst. 6(1):2013, doi:10.4271/2013-01-0712. ____________________________________ THIS DOCUMENT IS PROTECTED BY U.S. AND INTERNATIONAL COPYRIGHT. It may not be reproduced, stored in a retrieval system, distributed or transmitted, in whole or in part, in any form or by any means. Downloaded from SAE International by Barys Shyrokau, Saturday, March 23, 2013 03:42:39 AM

Vehicle dynamics with brake hysteresis

This paper studies hysteresis of vehicle brakes and its influence on the vehicle dynamics. The experimental investigation clearly shows the non-linear and asymmetric characteristics of hysteresis of the disk brakes in passenger cars. A computational model of the brake mechanism with hysteretic elements, based on the Bouc–Wen method, is developed and verified with experimental data. Using the developed model, the influence of hysteresis on the vehicle dynamics during straight-line braking with an anti-lock braking system is analysed. It is also observed that the variations in the hysteresis parameters have important influences on the main vehicle brake characteristics such as the stopping (brake) distance, the time of braking and the average deceleration. A comparative analysis of the simulation results is also given for braking with zero hysteresis or with hysteresis represented as a signal delay and linear function.

ROAD IDENTIFICATION FOR ITS-INTEGRATED SYSTEMS OF AUTOMOTIVE ACTIVE SAFETY

Abstract The paper discusses several aspects of active safety control for automotive application. Particular emphasis is placed on the fuzzy logic determination of friction properties of a tyre‐road contact. An example of vehicle control systems equipped with off‐board sensors of road roughness, temperature, moisture and rain intensity demonstrates the implementation of this approach. The paper proposes conceptual solutions for preventive active safety control applied to vehicles which are integrated in an intelligent transportation system.

Analysis of subsystems coordination for electric vehicle during straight-line braking and brake-in-turn

Coordination between friction brake system, individual-wheel drive electric motors and tire inflation pressure system is considered. To coordinate vehicle subsystems, optimization-based control allocation is used. The influence of subsystem coordination on criteria of vehicle dynamics (braking distance, RMSE of longitudinal acceleration, RMSE of yaw rate, sideslip angle) and energy consumption and losses (recuperated energy during maneuver and tire energy dissipation) were analyzed for straight-line braking and brake-in-turn maneuvers by simulation investigation. The proposed control system was investigated using HIL test rig with hardware components of friction brake system and tire inflation pressure system.