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This paper outlines a real-time hierarchical control allocation algorithm for multi-axle land vehicles with independent hub motor wheel drives. At the top level, the driver’s input such as pedal position or steering wheel position are interpreted into desired global state responses based on a reference model. Then, a locally linearized rigid body model is used to design a linear quadratic regulator that generates the desired global control efforts, i.e., the total tire forces and moments required track the desired state responses. At the lower level, an optimal control allocation algorithm coordinates the motor torques in such a manner that the forces generated at tire-road contacts produce the desired global control efforts under some physical constraints of the actuation and the tire/wheel dynamics. The performance of the proposed control system design is verified via simulation analysis of a 3-axle heavy vehicle with independent hub-motor drives.

Study of the spray formation in vicinity of the nozzle is essential to better understand and predict the physical processes involved in the diesel atomization. The initial spray patterns were found to be different from one injection to another during our visualization experiments, which was carried out based on a long distance microscope with a high speed camera in this work. It was found that the initial spray might contain a clear single mushroom, tail region and intact liquid column, or have a tail in front of the mushroom without changing its direction. Occasionally, it presented as a double-mushroom shape, or did not include a clear mushroom. Our visualization results showed that the various spray structures were observed at different injection pressures and different injection cycles under the same injection pressure.