This book offers a snapshot of the latest research and developments in road and railway vehicle dynamics. Gathering peer-reviewed contributions to the 27 th Symposium of the International Association of Vehicle System Dynamics (IAVSD), held online on August 17–19, 2021, from Saint Petersburg, Russia, it offers extensive information for both researchers and professionals in the field of ground vehicle dynamics, control and design. It covers cutting-edge methods and solutions for solving ground vehicle system dynamics-related problems, concerning control and monitoring, performance, safety and braking of road and rail vehicles, including electric and autonomous ones. Further, it reports on significant advances in vehicle design, and important applications to improve ride comfort. Overall, the book provides academics and professional with a timely reference guide on theories and methods to understand, analyze and improve vehicle stability and dynamics in a broad range of different operating conditions.
Chapter "Experimental Validation of a Semi-physical Modelling Approach of the Influence of Tyre Rotation on the Vertical Tyre Force Transmission and Tyre Kinematics" is available open access under a Creative Commons Attribution 4.0 International License via link.springer.com.

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zlib/Engineering/Civil & Structural Engineering/Anna Orlova, David Cole, (eds)/Advances in Dynamics of Vehicles on Roads and Tracks II: Proceedings of the 27th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2021_23417650.pdf

Advances in Dynamics of Vehicles on Roads and Tracks II : Proceedings of the 27th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2021, August 17–19, 2021, Saint Petersburg, Russia

Anna Orlova, David Cole, (eds)

IAVSD Symposium

Springer Nature Switzerland AG

Lecture notes in mechanical engineering, Cham, 2022

Springer Nature, Cham, 2022

Switzerland, Switzerland

{"edition":"1","isbns":["3031073045","9783031073045"],"last_page":1302,"publisher":"Springer"}

Preface
Organization
Program Chairs
International Scientific Committee
Contents
Rail: Active suspensions, Control and Monitoring
Multi-degree of Freedom Dynamic Vibration Absorber of the Carbody of High-Speed Trains
1 Introduction
2 Establishment of a High-Speed Train Dynamic Model
3 Optimal Design of MDOF DVA of the Carbody
4 Conclusions
References
Active Modal Control of an Innovative Two-Axle Vehicle with Composite Frame Running Gear
1 Introduction
2 The Innovative Vehicle
2.1 Connection Frame
2.2 Carbody
2.3 Actuator
3 Simulation Scenario and Control System
3.1 Control System
4 Results
5 Conclusions
References
A Research Facility for the Next Generation Train Running Gear in True Scale
1 Background and Motivation
2 Running Gear Design Principles and Features
3 Integration Test Rig
4 Control Structure
5 Simulation Scenarios for the Implementation
6 Summary and Outlook
References
Implementation of Steering Control of Full Scale Railway Vehicle Assembling Independently Rotating Wheels with Negative Tread Conicity
1 Introduction
2 Curving Performance of Vehicle with NTCIRW
3 Full Scale Vehicle Experiment
3.1 Full Scale Vehicle System
3.2 Curving Performance Evaluation
3.3 Active Steering Control for Performance Improvement
4 Conclusion
References
Improvement of High-Speed Vehicle Vertical Ride Comfort with Semi-active Primary Suspension
1 Introduction
2 Rail Vehicle Model
2.1 Coupling Effect Between Car-Body Bending Mode and Bogie Vibrations
2.2 Simplified Vehicle Model
3 Skyhook Control for Semi-active Primary Suspension
4 LQG Control for Semi-active Primary Suspension
5 Conclusions
References
Railway Bogie Diagnostics Using Machine Learning and Bayesian Net Reasoning Approaches
1 Introduction
1.1 Objective of This Work
1.2 Investigated Vehicle
2 Bogie Diagnostics Concepts
2.1 Physics and Engineering Knowhow
2.2 Signal Processing and Feature Extraction
2.3 Feature Selection and Training of Classifiers
2.4 Probabilistic Reasoning for Fault Localization
3 Validation and Operational Experience
4 Summary
References
Condition Monitoring and Evaluation of Railway Vehicles Using New Index Values Consisting of Wheel Load and Lateral Force
1 Introduction
2 Twist Component and Steering Resistance
2.1 Twist Component
2.2 Steering Resistance
3 Result of Using Bogie Twist Component and Steering Resistance
3.1 Time History of Bogie Twist Component and Steering Resistance
3.2 Correlation Between Bogie Twist Component and Steering Resistance
3.3 Discussion
4 Conclusion
References
Validation of a Driverless Railway Vehicle Control Unit Algorithms Through Real-Time Vehicle Simulation
1 Introduction
2 HiL Test Bench Description
3 VCU Description
4 Longitudinal Dynamics Vehicle Model
5 Powertrain Model
6 Simulation Results
6.1 Traction and Braking Management
6.2 Traction Management in Wheel-Slip Condition
7 Conclusions
References
Traction Control Algorithms Versus Dynamic Performance in Light Rail Vehicle Design Architectures
1 Introduction
2 Methodology
3 LRV Multibody Modelling
4 Traction Control Techniques
4.1 Solid-Axle Wheelsets Active Suspension Control
4.2 IRW Active Suspension Control
5 Testing Scenarios and Results
6 Discussion
7 Conclusions
References
Data-Driven Robust Control for Railway Driven Independently Rotating Wheelsets Using Deep Deterministic Policy Gradient
1 Introduction
2 Data-Driven Control Approach Based on DDPG
2.1 Reinforcement Learning System
2.2 Deep Deterministic Policy Gradient Algorithm
3 Training, Simulation and Analysis
4 Conclusion
References
Demonstration of a Digital Twin Framework for Model-Based Operational Condition Monitoring of Crossing Panels
1 Introduction
2 Digital Twin Framework
3 Measurement Data
3.1 Crossing Rail Geometry Scans
3.2 Sleeper Acceleration Measurements – Displacement Reconstruction
4 Model for Simulation of Dynamic Train-Track Interaction
5 Calibration of MBS Track Model Parameters
6 Conclusions
References
Adhesion-Based Maximum-Seeking Brake Control for Railway Vehicles
1 Introduction
2 Development Environment for the Control Concept
2.1 Plant Model
2.2 Adhesion Estimator
3 Brake Control Synthesis
3.1 Problem Formulation
3.2 Maximum-Seeking Control Strategy
4 Presentation and Discussion of Brake Control Results
5 Conclusions and Outlook
References
Experimental Study of Magnetic Levitation Vehicle System Based on Flexible Levitation Control Strategy
1 Introduction
2 Mathematical Model of Maglev Control System
3 Magnet-Track Coupling Test Rig Based on Similarity Theory
4 Testing of the Proposed Levitation Control Strategy
5 Conclusion
References
Polygonal Wheel Detection of Railway Vehicles Based on VMD-FastICA and Inertial Principle
1 Introduction
2 Methodology
2.1 VMD Algorithm
2.2 Independent Component Analysis
2.3 The Proposed Algorithm
3 Simulation Signal Analysis
4 Experiment Data Analysis
5 Conclusions
References
Rail: Pantograph-Catenary Dynamics, Continuous Rail monitoring
Research on Dynamic Characteristics of the APM 300 Current Collector
1 Introduction
2 Dynamic Model of the Current Collector and Field Test
3 Results and Discussion
4 Conclusion
References
Active Control Strategy of Pantograph Coupling with Rigid Catenary Considering the Time Delay in Sensor and Actuator
1 Introduction
2 PCS Model
2.1 Pantograph Model
2.2 Catenary Model
2.3 Contact Model
2.4 Control Objectives
3 The Effect of Time Delay on PID Controller Performance
3.1 The Mathematical Model for PID Controller
3.2 PID Control Performance of PCS
3.3 The Effect of Time Delay on PID Controller Performance
4 Controller Design Considering Time Delay
4.1 Improved Fuzzy PID Controller
4.2 Dynamic Predictive Fuzzy Adaptive PID Control (DMC-Fuzzy-PID)
4.3 Simulation Verification of Controller Considering Time Delay
5 Conclusion
References
Continuous Monitoring of Rail Corrugation Growth Using an In-Service Vehicle
1 Introduction
2 Experimental Setup and Estimation Algorithm of Rail Roughness
3 FRF of Axle-Box Accelerometers Measurement System
3.1 Vehicle and Track Dynamics
3.2 Dynamics of Wheel-Rail Interaction
4 Results
5 Conclusions
References
Coupled Models with Contact Kinematics for Pantograph-Catenary Systems
1 Introduction
2 System Model
2.1 Catenary Model
2.2 Lumped Mass Pantograph Model
2.3 Pantograph-Catenary Interaction
3 System Dynamics and Control Objective
3.1 Active Collector Head Suspension Dynamics
3.2 Control Objective
4 Simulation Results
4.1 Passive Pantograph
4.2 PI Controlled Active Pantograph
5 Conclusion
References:
Rail: Running Performance, Safety and Derailment Analysis
Study on Longitudinal Stability of Single-Carbody Low-Floor Tram
1 Introduction
2 Mathematic Model
3 Dynamic Response
4 Simulation Test and Analysis
5 Conclusion
References
Effect of Wheel Polygonal Wear on Express Freight Train Running on the Bridge in the Crosswind
1 Introduction
2 Dynamic Model of Train-Track-Bridge System
3 Crosswind Loads Model
4 Wheel Polygonal Wear Model
5 Results and Discussion
5.1 Effect of Wheel Polygonal Wears on the Vehicle
5.2 Effect of Wheel Polygonal Wears on the Bridge
6 Conclusions
References
An Experimental Investigation of Potential Causes for Car-Body Hunting Motion of High-Speed Train
1 Introduction
2 Features of the Car-Body Hunting Phenomenon
3 Countermeasures to Restrain CHM
4 Conclusion
References
A Study on the Mechanism of Carbody Shaking Phenomenon of High-Speed Trains
1 Introduction
2 Vibration Feature of the Carbody Shaking Phenomenon
3 Numerical Investigation of the Mechanism of Carbody Shaking
4 Conclusions
References
Comparison of Articulated and Conventional Passenger Train Dynamic Characteristics at Various Motion Regimes
1 Introduction
2 Mathematical Modeling
3 Simulation Results
3.1 Self-Excited Vibrations
3.2 Motion Along the Straight and Curved Track Segments
3.3 Transient Motion Regimes
4 Conclusions
References
Features of the Aerodynamics of the Undercar Space of the High-Speed Rolling Stock
1 Introduction
2 Mathematical Model for Aerodynamic Calculations
3 Development of a Numerical Model of a Railway Section
4 Conclusion
References
Geometric Criterion for Flange Climb Derailment and IWS-Based Implementation
1 Background
2 Discussion of the Conservativeness and Risk of Using L/V Ratio-Based Criteria
3 Geometric Criterion
4 IWS for W/R Contact Position Detection
5 L/V Ratio-Based and Contact Geometry-Based Analysis of Flange Climb Derailment at TTC
6 Conclusions
References
Influence of Ground and Milled Rail Profiles on Ride Comfort
1 Introduction
2 Machining of Rails
2.1 Grinding
2.2 Milling
3 Evaluation Method
4 Track Measurements
5 Vehicle Measurements
6 Ride Comfort of Ground Versus Milled Rails
7 Summary and Conclusions
8 Acknowledgements and Disclaimer
References
Rail: Track and Bridges Modelling
Wheelset-Track Dynamic Interaction Modelling with Frequency- and Preload-Dependent Stiffness and Damping of Resilient Track Components
1 Introduction
2 Experimental Tests
3 Numerical Models
3.1 ERS Non-linear Rheological Model
3.2 Non-linear Track Model and Wheelset-Track Interaction Simulation
4 Conclusion
References
Long-Term High-Speed Train–Track Dynamic Interaction Analysis Using a Moving Train–Track Interaction Model
1 Introduction
2 Formulation of the Moving Train–Track Interaction Model
2.1 Model of the Slab Track
2.2 Model of the Train–Track Interaction
3 Results and Discussion
4 Conclusion
References
Prediction of Differential Track Settlement in Transition Zones Using a Non-Linear Track Model
1 Introduction
2 Modelling and Simulation of Vertical Vehicle-Track Interaction
2.1 Railway Track Model
2.2 Vehicle Model
3 Iterative Approach for Prediction of Long-Term Differential Settlement
4 Numerical Example
5 Conclusions
References
Dynamic Performance of High-Speed Train Running on Large Span Cable-Stayed Bridge Subjected to Temperature-Induced Deformation
1 Introduction
2 Train–Track–Bridge Interaction Model
3 Temperature-Induced Deformation of Cable-Stayed Bridge
4 Dynamic Analysis of the TTCSBS Considering Temperature Gradient
5 Conclusion
References
Rail Acceleration Induced by Train Pass-by—Field Measurements and Validation of a Simulation Model
1 Introduction
2 Measurements
3 Simulation
3.1 Track Model
3.2 Vehicle Model
4 Results
4.1 Influence of structural flexibility
4.2 Verification of Simulation Model
5 Conclusions
References
Rail: Traction and Braking
Dynamic Features of Motor Electrical System in Locomotive Under Excitations of Wheel Polygonization
1 Introduction
2 Co-simulation Dynamics Model of an Electric Locomotive
3 Simulation Scenario and Results Discussions
4 Conclusions
References
Full-Scale 3D Heavy Haul Train-Track Dynamics Modelling Method
1 Introduction
2 Method for Heavy Haul Train-Track Dynamics Simulation
2.1 Infinite Long Flexible Track Model
2.2 3D Train Dynamics Model
2.3 3D Train-Track Dynamics Model
3 Method Validation
3.1 Validation of Train Modelling Method
3.2 Validation of Track Modelling Method
4 Conclusion and Future Work
References
Investigation on How Rail Surface Self-cleaning Changes the Locomotive Traction Dynamics
1 Introduction
2 Methodology
2.1 Collection of Experimental Data
2.2 Interpretation of Experimental Data to Numerical Model
2.3 Locomotive Model and Traction Control System
3 Simulation and Results
4 Conclusion
References
What is the Right Way to Model Traction Power Distribution in Complex Heavy Haul Locomotive Models?
1 Introduction
2 Methodology and Proposed Design
3 Modeling of a Locomotive Mechatronic System
3.1 Locomotive Multibody Model in Gensys
3.2 Traction Control System in Simulink and Its Integration in Gensys Locomotive Model
4 Testing Scenario and Results
5 Conclusions
References
Rail: Vehicle Design and Components
Single Axle Running Gear with Nonlinear Axle Guidance Stiffness
1 Introduction
2 The Innovative Vehicle
3 Methodology
4 Results
5 Conclusions
References
Modelling Friction Stick-Slip in Heavy Haul Draft Gears
1 Background
2 Modelling
3 Simulation Results
4 Discussion
5 Conclusion
References
An Improved Air Spring Model for Pantograph on the High-Speed Train
1 Introduction
2 Air Spring Test
3 Basic Air Spring Model
3.1 Basic Thermodynamic Model of Air Spring
3.2 Analysis and Validation of Basic Air Spring Model
4 Extended Air Spring Model
4.1 Extended Thermodynamic Model of Air Spring
4.2 Analysis and Validation of Extended Air Spring Model
5 Improved Air Spring Model
5.1 Improved Thermodynamic Model of Air Spring
5.2 Analysis and Validation of Improved Model
6 Conclusions
References
Simulation and Experimental Assessment of the Dynamic Performance of Articulated Freight Cars
1 Introduction
2 Calculation Analysis of Overturning and Derailment Stability
3 Dynamic Simulation of Running Performance and Track Interaction
4 Test Results for Running Performance and Track Interaction
5 Conclusions
References
Utilisation of Gyroscopic Damper to Improve Dynamic Stability and Steering in a Railway Vehicle with Independently Rotating Wheels
1 Introduction
2 Gyroscopic Damper with Railway Vehicle System
2.1 Equations of Motion
3 Theoretical Investigation
3.1 Analytical Model
3.2 Equations of Motion
3.3 Eigenvalue Analysis
3.4 Straight Track Dynamics
3.5 Curved Track Dynamics
4 Full-Scale MBD Simulation
4.1 Damper Design
4.2 Full-Scale Model
4.3 Straight Track Dynamics
4.4 Curved Track Dynamics
5 Conclusion
References
Methodology to Determine the Limits for Loading Distributions on an Individual Wagon and a Consist of Wagons
1 Introduction
2 Methodology
2.1 Literature Review and Standards Evaluation
2.2 Operational Scenarios for Simulations
2.3 Train and Wagon Modelling and Parameters
2.4 Modelling and Simulation of Train Operations
2.5 Modelling and Simulation of Wagon Responses
2.6 Batch Simulations
2.7 Simulation Result Data Post-processing
2.8 Results Analyses and Decision Maker Development
3 Simulations
3.1 Simulations of Train Operations
3.2 Batch Simulations of the Wagon Models
4 Remarks
References
Model Updating of Flexible Vehicle Body Based on Experiment Modal Parameter
1 Introduction
2 Methods
3 Measurement and Validation
4 Conclusions
References
Rail: Vehicle - Track Interaction
The Impact of New Running Gear Technologies upon Vehicle-Track Interaction
1 Introduction
2 Technology Trends for Railway Rolling Stock
2.1 New Design Approaches
2.2 Mechanical Innovations
3 Vehicle Dynamics Requirements
3.1 New Design Approaches, Especially Mechatronics
3.2 Future Design Requirements
4 Conclusion
References
Methodology to Gain Statistical Insights into the Effects of Operating Conditions on Railway Vehicle Dynamics
1 Introduction
2 Methodology
2.1 Pre-processing of Measurement Data
2.2 Exploratory Data Analysis
2.3 Statistical Modelling
2.4 Variable Importance Analysis
3 Usecase On-Track Test
3.1 Pre-processing of Measurement Data
3.2 Exploratory Data Analysis
3.3 Statistical Modelling and Variable Importance Analysis
3.4 Simulation of Measurement Data
3.5 Results of the Variable Importance Analysis
4 Conclusion and Outlook
References
Method of Continuous Registration of Dynamic Processes of Interaction Between Rolling Stock and Railway Track
1 Introduction
2 Development of a New Technology for Continuous Registration of Vertical and Lateral Forces in the Wheel-Rail Contact
3 Conclusions
References
A Model for Predicting the Evolution of Vertical Vehicle-Track Interaction
1 Introduction
2 Modeling Approach
3 Field Measurements
4 Results
5 Conclusion and Outlook
References
A Fast Co-simulation Approach to Vehicle/track Interaction with Finite Element Models of S&C
1 Introduction
2 Methodology
2.1 Standard Approach
2.2 New Approach
3 Case Study
3.1 Swedish S&C with a Linear Track Model
3.2 Swedish S&C with Voided Sleepers
4 Results
4.1 Swedish S&C with a Linear Track
4.2 Swedish S&C with Voided Sleepers
5 Conclusion
References
Monitoring of Alignment Level (AL)and Cross Level (CL) Track Geometry Irregularities from Onboard Vehicle Dynamics Measurements Using Probabilistic Fault Classifier
1 Introduction
2 Background
2.1 Track Geometry Irregularity
2.2 Track Geometry Irregularity and Vehicle Response Measurements
2.3 Probabilistic Naïve Bayes Classification
3 Methodology
3.1 Track Irregularity and Vehicle Response Database
3.2 Probabilistic Modelling of Vehicle Response Samples
3.3 Modelling and Evaluation of the MAP–NB Classifier
4 Results
5 Conclusions
References
Rail: Wheel and Rail Contact, Adhesion, Wear, Damage
Realistic Worst-Case Adhesion Characteristics Causing Maximum Wheel-Set Axle Vibrations
1 Introduction
2 Measurement Data
3 Energy Based Methodology
4 Summary
References
An Extension of FASTSIM for Steady State Non-Hertzian Contact
1 Introduction
2 From FASTSIM over an Ellipse to FASTSIM over Strips
2.1 The Simplified Theory
2.2 Extension of FASTSIM for Non-Hertzian Contact Patches
3 Results
4 Conclusion
References
Gradient Index Profile, a Novel Idea for Predicting Equivalent Conicity
1 Introduction
2 Definition
2.1 Determination of Track Center Line
2.2 Definition of GIPr, Gradient Index Profile Rail
2.3 Definition of GIPw, Gradient Index Profile Wheel
2.4 Definition of Combined Index GIP
3 Distribution of GIPw of Worn Wheels
4 GIP Vs Equivalent Conicity
5 Summary
6 Acknowledgements and Disclaimer
References
Wear Concentration Index: An Alternative to the Target T-gamma in Railway Wheel Profile Optimization
1 Introduction
2 Vehicle-Track Model
3 WCI: A Statistical Index for Assessing the Wheel Profile Shape Stability
3.1 Step I: Statistical Probability Distribution of Lateral Contact Positions on Wheels
3.2 Step II: Statistical Distribution of Smoothed Mean Wear Rate
3.3 Step III: Wear Concentration
3.4 Step IV: Wear Concentration Index
4 Comparison and Validation
4.1 Wheel Profile Generation
4.2 Comparison
4.3 Validation
5 Conclusions
References
A Finite Element Thermomechanical Analysis of Polygonal Wear
1 Introduction
2 Modelling
2.1 Finite Element (FE) Models
2.2 Polygonal Wheel Profile in the FE Models
2.3 Simulation Cases for the Polygonal Wear
3 Verification
4 Simulation Results
4.1 Contact Pressure on the Surface
4.2 Wear Simulation
5 Conclusions and Future Work
References
Fast Computation of Wear Distribution Over Contact Patch
1 Introduction
2 Wear Model
2.1 Frictional Power in the Contact Patch
2.2 Wear Law
3 Implementation of the Wear Model in MBS Simulation
3.1 Case 1 Wear Over the Contact Patch
3.2 Case 2 Wheel Wear Prediction in MBS Simulation
4 Conclusions
References
A Fast, Reliable and Practical Method to Predict Wheel Profile Evolution
1 Introduction
2 Methodology
3 Measurements
4 Results
4.1 Calibration and Validation
4.2 Discussion
4.3 Application
5 Conclusion
References
Modified Wear Modelling for Fast Wear Calculation
1 Introduction
2 The Classic Wear Calculation Modelling
3 The Possibility to Improve the Wear Model Speed
4 The Modified Wear Calculation Modelling
4.1 Lookup Table
4.2 Self-made Contact Point Detection Code
4.3 Results and Discussion
4.4 Modified Wear Calculation Modelling–Strategy 1
4.5 Modified Wear Calculation Modelling–Strategy 1
5 Conclusion
References
Study on Potential Evolution Mechanisms of OOR Wheels at Trams
1 Introduction
2 System Model
3 Curving Behaviour and Creep Forces
4 DoE Study
5 Numerical Results and Discussion
6 Summary
References
Road: Suspension
Data-driven Modeling Approach for Control Design of a Variable-Geometry Suspension System
1 Introduction
2 Variable-Geometry Suspension Concept for Steering Purposes
2.1 Testbed of Variable-Geometry Suspension System
3 Model Optimization and Control Design Process
4 LPV-Based Control Design of the Testbed
5 Demonstration of the Control Effectiveness
6 Conclusions
References
Kinematic Versus Elasto-Kinematic Model of a Twistbeam Suspension
1 Introduction
2 Twistbeam Suspension Modeling
2.1 Model Approach
2.2 Position and Orientation
2.3 Force Elements
2.4 Design Kinematics Approximation
3 Simulation Results
4 Conclusion
References
A Computationally Efficient Multibody Simulation Model of a Suspension System Including Elastokinematic Properties
1 Introduction
2 Elastokinematic Suspension Model
3 Integration Approach Using Linear-Implicit Methods
4 Dynamic Suspension Tests
4.1 Load Cases
4.2 Results
4.3 Computing Times
5 Conclusion
References
A Structured Approach to Analyzing Vehicle Dynamics
1 Introduction
2 Proposed Framework
2.1 Organization of the Equations
2.2 Jacobian Calculation
2.3 Steady-State Formulation
2.4 Linearization
3 Four Wheel Model
4 Case Studies
4.1 Calculating a Steady-State Solution
4.2 Time-Domain Simulation
4.3 Linearization
5 Conclusion
A Four Wheel Model
A.1 Generalized Coordinates, Velocities & Inputs
A.2 Frames
A.3 Angular Velocity Vector
A.4 Force Decomposition
A.5 Inertia Tensor
A.6 Newton-Euler Equations of Motion
B Formulating Steady-State
C Nomenclature
D Properties
References
Multi-objective Optimization of Suspension Kinematics of a Race Car
1 Introduction
2 Methods
2.1 Suspension Kinematics Simulation
2.2 Optimization
3 Case Study
3.1 Baseline Suspension Assembly
3.2 Evaluation and Objectives
3.3 Genetic Algorithm Setup
3.4 Results
4 Conclusions
References
Active Pitch Control for Prevention of Passenger Falling Over in Autonomous Shuttle
1 Introduction
2 Concept of Active Pitch Control
3 Modeling of Vehicles and Passengers
3.1 Vehicle Model
3.2 Passenger Model
3.3 Index to Evaluate the Possibility of passenger's Falling Over
3.4 State Equation of the Vehicle-Passenger System
3.5 Design of Active Pitch Controller
3.6 Motor Output Limiter
3.7 Limiter to Avoid Tire Force Saturation
4 Numerical Simulation
4.1 Case of Acceleration
4.2 Case of Deceleration
5 Conclusion
References
The Effect of Heat Transfer on Hydro-Pneumatic Springs
1 Introduction and Background
2 Modelling of a Gas Accumulator
2.1 Approach
2.2 Model Implementation
2.3 Thermal Time Constant Discussion
3 Investigation
3.1 Thermal Time Constant Effect on Force-Displacement Characteristic
3.2 External Factors Influencing Force-Displacement Characteristic
4 Conclusions and Recommendations
Appendix – Nomenclature and Gas Constants
References
Comparison of the Performance of Different Active Suspension Architectures Equipped with Linear Electric Motors
1 Introduction
2 Vehicle Model Used
3 H∞ Active Suspension Control for Ride Comfort
4 Active Suspension Control During a Hard Brake Manoeuvre
5 Active Suspension Control During VSC
6 Conclusion
References
Road: Heavy vehicles
Two-Way Coupled Aerodynamics and Vehicle Dynamics Crosswind Simulation of a Heavy Ground Vehicle in Winter Road Conditions
1 Introduction
2 Numerical Methods
3 Results and Discussion
3.1 Effects of Delay Time in Driver's Steering Response on Winter Roads
3.2 Effects of Different Maximum Magnitudes of Crosswind Velocities on Winter Roads
4 Conclusions
References
Wheelbase Influence on Performance of Tractor-Semitrailer Combinations
1 Introduction
2 Research Method
2.1 Vehicle Models
3 Simulation Results
3.1 Single Lane Change
3.2 Engine Braking in a Curve
3.3 Braking with All Wheels in a Curve
4 Conclusions
References
Improved Lateral Performance of a Long Combination Vehicle Based on Artificial Flow Guidance
1 Introduction
2 Controller Design
3 Results for All-Axle Steering
3.1 Pure Feedforward Control
3.2 Feedforward Plus Feedback Control
4 Results for Selective Axles Steering
5 Conclusion
References
Cold Judder in Tractor Drivelines: An Essential Model for Stability Analysis
1 Introduction
2 Model Description and Method of Analysis
3 Results and Discussion
4 Conclusions
References
A Model for Energy Consumption in Heavy Vehicle Braking
1 Introduction
2 Drivetrain
3 Energy Storage Devices
4 Braking Devices
5 Results
6 Discussion
References
On the Control Allocation Performance of Longer Combination Vehicles
1 Introduction
2 Modeling
3 Control System
3.1 High-Level Control System Design
3.2 Lower-Level Control Design
4 Simulation Tests
5 Conclusions
Appendix
References
Road: Vehicles on virtual Rails
An Autonomous Driving Control Strategy for Multi-trailer Articulated Heavy Vehicles with Enhanced Active Trailer Safety
1 Introduction
2 Vehicle Modelling
2.1 5-DOF Yaw-Plane Model
2.2 Vehicle Model Validation
3 Autonomous Driving and Active Trailer and Dolly Steering Control Methodology
3.1 Nonlinear Model Predictive Control
3.2 Autonomous Driving Control
3.3 Active Trailer and Dolly Steering
4 Simulation Results
5 Conclusions
References
Lateral Control of a Trackless Road Tram `ART' Using Multi-axle Steering
1 Introduction
2 Modelling
3 Controller Design
3.1 Reference Path Integration
3.2 Targets and Low-Level Controller Design
4 Simulation Results
4.1 Open Loop Tests
4.2 Closed Loop Test
5 Conclusion
References
Gantry Virtual Track Train: Analysis of Vehicle Architecture and Path-Tracking Control Strategy
1 Introduction
2 Gantry Virtual Track Train
3 Path-Tracking Control Strategy
4 Simulation
5 Conclusions
References
A New Active-Steering Control System for the Running Control of the Articulated Virtual Rail Train
1 Introduction
2 ASVRT Model
3 Active-Steering System Design
3.1 Target Trajectory Calculation
3.2 Rear-Axle Steering Controller Design
3.3 Front-Axle Steering Controller Design
4 Simulation
5 Conclusions
References
Road: Vehicle Dynamics Analysis
Design of the Vehicle Cornering Response Based on the Map of Achievable Performance: Preliminary Assessment
1 Introduction
2 The ρ-δ MAP
3 Cornering Response Design on the ρ-δ MAP
4 Comparison with Other Methods and Discussion
5 Conclusions
References
Graphical Methods for Road Vehicle System Dynamics Analysis
1 Introduction
2 Vehicle Model
3 Handling Diagram
4 MMM Diagram
5 Phase Portrait
6 Conclusions
References
Study of Different Steering Feedback Models Influence During Remote Driving
1 Introduction
2 Model Construction
2.1 Modular Model
2.2 Physical Model
3 Experiment Design
3.1 Experiment Scenarios
3.2 Experiment Protocol
3.3 Data Acquisition and Analysis Method
4 Results and Discussion
4.1 Learning Rate and Workload Analysis
4.2 Subjective Assessment
4.3 Steering Reversal Rates and Lane Following Deviation
5 Conclusions
References
Experimental Identification of a Driver Steering Control Model Incorporating Steering Feel
1 Introduction
2 Driver-Steering-Vehicle Model
3 Driving Simulator Experiments
4 Model Identification and Validation
5 Conclusion and Future Work
References
Probabilistic Estimation of Occupant Body Motion for Investigating Discomfort
1 Introduction
2 Occupant Body Motion Estimation
2.1 Marker-Based Computer Vision
2.2 Inertial Tracking
2.3 Probabilistic Sensor Fusion
3 Results
3.1 Ground Truth Experiment
3.2 Vehicle Experiments
4 Conclusion
References
Road: Driver-Vehicle Dynamics, Ride Comfort
Evaluation of Motion Sickness Prediction Models for Autonomous Driving
1 Introduction
2 Motion Sickness Prediction Modelling
3 Experimental Setup
4 Results and Discussion
5 Conclusions
References
Motion Cueing for Winter Test Conditions
1 Introduction
2 Material and Methods
2.1 EPAS Tuning in Dry and Winter Conditions
2.2 Motion Cueing Tuning
2.3 Simulator Setup and IMU Measurements
2.4 Subjective Assessment
3 Results and Discussion
3.1 Tilt Coordination Optimisation and IMU Measurements
3.2 Subjective Assessment
4 Conclusions
References
Integrated Active Seat Suspension for Enhancing Motion Comfort
1 Introduction
2 Simulation Models
2.1 Vehicle Model
2.2 Conventional Passive Seat Model
2.3 Integrated Seat Model
2.4 Control Architecture
3 Motion Comfort Assessment
3.1 Comfort Assessment Model
3.2 Motion Sickness Assessment Model
3.3 Transmissibility Models
4 Results
5 Conclusions
References
Performance Analysis of Decoupled Control of Active Chassis and Seat Suspensions
1 Introduction
2 Modeling and Controller Design
3 Comparative Analysis of Control Performance
3.1 Covariance Analysis
3.2 Frequency-Domain Analysis
3.3 Time Domain Analysis Based on Nonlinear Full-Car Model
4 Conclusion
References
Anti-jerk Control Approach to Improve Ride Comfort of a Half-Car Model Using Aerodynamic Actuators
1 Introduction
2 Half-Car Vehicle Model
3 Control Strategy
4 Simulation Results and Discussion
5 Conclusion
References
Road: Tires, Road Surfaces
Optimisation of Suspension and Tyre Parameters for Minimum Tyre Wear, Enhanced Comfort and Improved Vehicle Handling
1 Introduction
2 Simulation Models
2.1 Vehicle Model
2.2 Tyre Tread Model
2.3 Tyre Wear Quantity
3 Vehicle Performance
4 Optimisation Configuration
5 Results
6 Conclusions
References
On Rolling Resistance of Bicycle Tyres
1 Introduction
1.1 Background
1.2 Rolling Resistance
1.3 Motivation and Research Question
2 Method
2.1 One Degree of Freedom Two-Wheeled Pendulum
2.2 Tyre Setup
2.3 Pendulum Operation
2.4 Sensor Equipment
2.5 Evaluation
2.6 Disturbances
3 Results
4 Discussion, Conclusion and Future Work
References
Experimental Validation of a Semi-physical Modelling Approach of the Influence of Tyre Rotation on the Vertical Tyre Force Transmission and Tyre Kinematics
1 Introduction
2 Enhanced Semi-physical Vertical Tyre Force Model
3 Tyre Testing and Measurement Results
4 Parameter Identification and Validation
5 Summary and Conclusion
References
Simplified Turn Slip Modeling by a Parallel Magic Formula Model
1 Introduction
2 Tire Measurements
3 Tire Modeling
4 Model Validation
5 Discussion and Outlook
References
Qualifying Road Maintenance Friction Measurements for Use in Autonomous Vehicles
1 Introduction
2 Road Maintenance Measurements
3 Measurements
4 Results
5 Conclusion
References
Low-Cost Surface Classification System Supported by Deep Neural Models
1 Introduction
2 Parameter Acquisition and Processing
2.1 Acquisition System
2.2 Data Processing.
3 Methodology for Surface Classification
3.1 Long Short-Term Memory (LSTM)
4 Experiments and Results
5 Conclusions and Future Works
References
Generation of a Reduced, Representative, Virtual Test Drive for Fast Evaluation of Tire Wear by Clustering of Driving Data
1 Introduction
2 Materials and Methods
2.1 Preprocessing of Input Data
2.2 Clustering of Driving Data
2.3 Implementation in Adams Car
2.4 Evaluation of Tire Wear
3 Results
3.1 N

2022-10-27