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Chinese control Conference (CCC)

作者： Zengben Jia Haiyan Zhao Xiaohua Xie Mingxia Ma State Key Laboratory of Automobile Dynamic Simulation Jilin University Changchun 130025 China Department of Control Science and Engineering Jilin University Changchun 130025 China

To gain the absolute vehicle speed is the key issue in Anti-lock Braking System (ABS). A Kalman filter based on Field Programmable Gate Array (FPGA) for vehicle speed estimation is presented in the paper. Firstly, the mathematic model of eight degree of freedom is given under the combined slip condition, and then Kalman filter is obtained by the usage of DSP Builder of MATLAB/Simulink. An implementation based on FPGA is proposed and the vehicle velocity estimator is designed. In the end, the simulation result is given and transformed to the Very High Speed Integrated Circuits Hardware Description Language (VHDL). The Real Time Level (RTL) simulation for the Kalman filter is carried out in Modelsim. The simulation result shows that the proposed method is effective.

关键词： Estimation Kalman filters Vehicles Field programmable gate arrays Digital signal processing Integrated circuit modeling Electronic mail

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Identification and control of Split-μ Road for Antilock Braking System

Identification and Control of Split-μ Road for Antilock Bra...

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The 2nd IEEE International Conference on Advanced Computer control(第二届先进计算机控制国际会议 ICACC 2010)

作者： Yong Fang Liang Chu Wanfeng Sun Mingli Shang Feikun Zhou Jianhua Guo State key Laboratory of Automobile Dynamic Simulation Jilin University Changchun 130025 P.R.China

ISBN: (纸本)9781424458455;9781424458486;9781424458479;9781424458462

When braking on split-μ road, yaw moment and steering force of vehicle will be produced because the braking force is different for two side wheels. In order to deal with this problem, the modified independent control mode is widely applied, bowever, there also exits some defects. Because the gap of the adbensive coefficient of both sides is uncertain while braking, if the fixed modified coefficient is applied, it is difficult to keep vehicle direction stability and shorten the braking distance simultaneously under different gap former mentioned. Tlus paper proposes a method named split-μ road identification. Compare the difference of slip integral of front wheels to threshold values during a certain pressure state in order to identify whether the vehicle brakes on split-μ road. According to the integral of slip from both side wheels and vehicle deceleration, the control mode dynamically changes the modified coefficients of pressure. simulation results show that the algorithm can identify whether the vebicle is braking on split-μ road timely and also can identify the friction difference between the two sides accurately. The pressure regulation mode can regulate brake pressure appropriately and keep vehicle directional stability and shorten braking distance simultaneously.

关键词： antilock braking system identification split-μ road simulation

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Braking Force Distribution Strategy for HEV Based on Braking Strength

Braking Force Distribution Strategy for HEV Based on Braking...

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2010 International Conference on Measuring Technology and Mechatronics Automation(ICMTMA 2010)(2010年检测技术与机电自动化国际会议)

作者： Liang Chu Mingli Shang Yong Fang Jianhua Guo Feikun Zhou State Key Laboratory of Automobile Dynamic Simulation Jilin University Changchun 130025 P.R. China

The possibility of recovering vehicle kinetic energy is one inherent advantage of hybrid electric vehicle (HEV).Due to the introduction of electric regenerative braking, the structure, design and control of a hybrid electric vehicle is quite different from the pure mechanical braking of conventional vehicles. In this paper, the decelerations of the vehicle in typical urban driving cycles and the influences of regenerative braking have been investigated. The results provide strong supports to the design of the braking force distribution strategy for the hybrid electric vehicle. This paper designs a deceleration sensitive braking force distribution strategy to distribute the desired total braking force to the front and rear axles. This strategy can recovery more braking energy and can keep the vehicle more stable while the vehicle is braked. The proposed distribution strategy is tested through the simulation, and the simulation results show the distribution strategy is effective.

关键词： HEV Braking force distribution regenerative braking hybrid braking system motor braking

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Representation for M. thibetana in Wuyishan Nature Reserve, China

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Procedia Environmental Sciences 2010年 2卷 2005-2011页

作者： Shan Gao Bin Chen Zhifeng Yang Ph D. Student State Key Joint Laboratory of Environment Simulation and Pollution Control School of Environment Beijing Normal University Beijing 100875 China Associate Professor State Key Joint Laboratory of Environment Simulation and Pollution Control School of Environment Beijing Normal University Beijing 100875 China Professor State Key Joint Laboratory of Environment Simulation and Pollution Control School of Environment Beijing Normal University Beijing 100875 China

Selection of conservation reserves is a feasible way to protect species from human disturbances in nature reserves. In this paper, we select two reserve networks to represent M. thibetana from Wuyishan Nature Reserve. With the purpose to conform to the primary function of biodiversity conservation, the first one considers all sites with relative high probability of species occurrence. The second reserve network is identified by using a target-oriented heuristic approach. Each reserve contained in these networks satisfies the space demand of M. thibetana . The comparison results show that the extinction probability of M. thibetana in the second network is significantly greater than that in the first network. Additionally, the sites included in the second network can only cover 24.9% of those have been chosen to the first network, from which we conclude that the target-oriented heuristic algorithm is not effective while the method employed to determine the first reserve network is the simplest way to represent species in nature reserves.

关键词： Reserve network Nature reserve Species representation Occurrence probability Spatial configuration

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Hydraulic Braking Force Compensation control for Hybrid Electric Vehicles

Hydraulic Braking Force Compensation Control for Hybrid Elec...

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2010 International Conference on Computer,Mechatronics,control and Electronic Engineering(2010计算机、机电、控制与电子工程国际会议 CMCE 2010)

作者： Mingli Shang Liang Chu Jianhua Guo Yong Fang State Key Laboratory of Automobile Dynamic Simulation Jilin University Changchun 130025 P.R. China

ISBN: (纸本)9781424479573

The possibility of regenerative braking is one inherent advantage of hybrid electric vehicle. The motor and the hydraulic braking system are braking together while the hybrid electric vehicle is braking. But, the difference of the braking force dynamic response between the motor and the hydraulic braking system will lead the inadequate or excessive braking and will affect the braking feeling of the driver. In this paper, we analyze the braking dynamic characteristics of the motor and the hydraulic braking system. Then, we propose the braking force coordinated control strategy based on using the hydraulic braking force to compensate the motor braking force during the braking process of the hybrid electric vehicle. And in order to improve the accuracy of the motor torque control, we use the adaptive fuzzy sliding model control method to control the motor torque. After that this paper used the integrated feedforward and feedback control to design the hydraulic braking force compensation control strategy. This compensation control strategy can maintain the stability of the control system while reduce the system error and increase the dynamic performance of the system. The simulation results show that hydraulic braking force compensation control is effective and the total braking force can meet the desired braking force during the braking of the hybrid electric vehicle.

关键词： hybrid electric vehicle regenerative braking hydraulic braking force compensation control adaptive fuzzy sliding model control Feed-forward and Feedback control

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Estimation of Articulation Angle for Tractor Semi-trailer Based on state Observer

Estimation of Articulation Angle for Tractor Semi-trailer Ba...

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2010 International Conference on Measuring Technology and Mechatronics Automation(ICMTMA 2010)(2010年检测技术与机电自动化国际会议)

作者： Liang Chu Yong Fang Mingli Shang Jianhua Guo Feikun Zhou State key Laboratory of Automobile Dynamic Simulation Jilin University Changehun 130025 P.R. China

ISBN: (纸本)9781424450015;9780769539621

Jackknife is an unstable state of tractor semitrailer combination, and there is no sensor available to detect the jackknife or measure the hitch articulation angle. A state observer is designed to estimate the articulation angle, where a 3 DOF tractor semi-trailer linear model is used. The steering wheel angle sensors, lateral acceleration sensor, yaw rate sensor and axle load sensor of electronic tability control system for commercial vehicle are available here, and the signals are used in the state observer. Utilized road adhesion coefficient is estimated with lateral acceleration to correct the linear tire model. The observer is validated on a 21 DOF tractor semi-trailer nonlinear model, the simulation results shown that the estimated articulation angle is accurate in either linear area or nonlinear area of tire lateral force model.

关键词： tractor semi-trailer jackknife state observer articulation angle

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Traffic adaptive control framework for real time large-scale emergency evacuation

Traffic adaptive control framework for real time large-scale...

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2010 International Conference on Intelligent Computation Technology and Automation, ICICTA 2010

作者： Jiang, Guiyan Meng, Zhiqiang Wu, Zhengyan Li, Qiao Zhang, Chunqin State Key Lab of Automotive Dynamic Simulation College of Automobile Jilin University Changchun China College of Transportation Jilin University Traffic Information Engineering and Control Changchun China Department of Foreign Language and Literature College of Changcheng China University of Geosciences Baoding China

ISBN: (纸本)9780769540771

Large-scale natural or man-made disasters have the potential to cause great loss of life, human injury and extreme property damage. Evacuation from areas at risk is often one of the most feasible strategies that can be undertaken in response to these types of disasters. Evacuating a large population in the shortest possible time is an extremely complicated and difficult task, which urgently needs to look for ways to control the evacuation traffic flow efficiently and effectively in real-time. This paper, on the foundation of adaptive control theory, puts forward a traffic adaptive control framework for real time large-scale emergency evacuation, the characteristic of which integrates a method of prescriptive reference model and the adaptive control system. The prescriptive reference model is applied to specify, in a short-term and rolling-horizon manner, the desired traffic states, which serves as a reference point for the adaptive control. And the adaptive control system combines these desired states and the current prevailing traffic conditions collected by the sensing system to produce real time traffic control schemes. These traffic control schemes are implemented in the field to guide the real world traffic flow to evolve towards the desired states. © 2010 IEEE.

关键词： Adaptive control systems

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Braking Force Dynamic Coordinated control for Hybrid Electric Vehicles

Braking Force Dynamic Coordinated Control for Hybrid Electri...

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The 2nd IEEE International Conference on Advanced Computer control(第二届先进计算机控制国际会议 ICACC 2010)

作者： Mingli Shang Liang Chu Jianhua Guo Yong Fang Feikun Zhou State Key Laboratory of Automobile Dynamic Simulation Jilin University Changchun 130025 P.R.China

ISBN: (纸本)9781424458455;9781424458486;9781424458479;9781424458462

The possibility of regenerative braking is one inherent advantage of hybrid electric vehicle. The motor and the hydraulic braking system are braking together while the hybrid electric vehicle is braking. But, the difference of the braking force dynamic response between the motor and the hydraulic braking system will lead the inadequate or excessive braking and will effect the braking felling of the driver. In this paper, we analyze the braking dynamic characteristics of the motor and the hydraulic braking system. Then, we analyze the hybrid electric vehicle working patterns of the braking process and design the hierarchical structure of the braking force control system. After that, we propose the braking force coordinated control strategy based on using the hydraulic braking force to compensate the motor braking force during the braking process of the hybrid electric vehicle. This paper used the integrated feed-forward and feedback control to design the braking force coordinated control strategy. This integrated control can maintain the stability of the control system while reduce the system error and increase the dynamic performance of the system. The simulation results show that braking force dynamic coordinated control is effective and the total braking force can meet the desired braking force during the braking of the hybrid electric vehicle.

关键词： Hybrid Electric Vehicle Regenerative Braking Braking Force Coordinated control Feed-forward and Feedback control

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Adaptive backstepping control of a dual-manipulator cooperative system handling a flexible payload

Adaptive backstepping control of a dual-manipulator cooperat...

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2010 International Conference on Computer, Mechatronics, control and Electronic Engineering, CMCE 2010

作者： Liu, Mulin Li, Yuanchun Tang, Zhiguo Chen, Changqing State Key Laboratory of Automobile Dynamic Simulation Jilin University Changchun 130022 China Department of Communication Engineering Jilin University Changchun 130022 China Changchun Institute of Optics Fine Mechanics and Physics Chinese Academy of Sciences Changchun 130022 China

ISBN: (纸本)9781424479566

Two manipulators handling a flexible payload are studied based on adaptive backstepping control theory. Considering the complexity of the dynamic model, the obtained model is divided into a slow subsystem describing the large rigid motion and a fast subsystem expressing the elastic vibration by singular perturbation theory. A cooperative controller is designed based on adaptive backstepping control. The slow subsystem can complete system trajectory tracking performance. The fast subsystem can suppress the elastic vibration of the system. Stability of the system is proved by using Lyapunov stability theory. The validity of the proposed scheme is demonstrated by simulations. © 2010 IEEE.

关键词： Manipulators

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Study on coordination model of variable speed control and on-ramp metering for urban expressway

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Journal of Beijing Institute of Technology (English Edition) 2010年第SUPPL. 2期19卷 124-127页

作者： Yu, De-Xin Liu, Chun-Rong Yang, Zhao-Sheng State Key Laboratory of Automobile Dynamic Simulation Jilin University Changchun 130022 China College of Traffic Jilin University Changchun 130022 China

Based on the on-ramp metering and main road variable speed control, their coordination strategy of control and guidance was suggested. A traffic flow model of the expressway under the speed guidance condition was derived and an optimal coordination function to maximize the expressway service capacity and minimize the ramp queue delay was built. The simple numerical example was validated with VISSIM simulation software. The results show that implementation of the coordinated control of variable speed and on-ramp metering can increase the traffic flow capacity and decrease the average travel time.

关键词： Travel time

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