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Journal Article

Vehicle Stability Control through Optimized Coordination of Active Rear Steering and Differential Driving/Braking

Abstract In this article, a hierarchical coordinated control algorithm for integrating active rear steering and driving/braking force distribution (ARS+D/BFD) was presented. The upper-level control was synthesized to generate the required rear steering angle and external yaw moment by using a sliding-mode controller. In the lower-level controller, a control allocation algorithm considering driving/braking actuators and tire forces constraints was designed to assign the desired yaw moment to the four wheels. To this end, an optimization problem including several equality and inequality constraints were defined and solved analytically. Finally, computer simulation results suggest that the proposed hierarchical control scheme was able to help to achieve substantial enhancements in handling performance and stability.
Journal Article

Study of the Sliding Door Shaking Problem and Optimization Based on the Application of Euler’s Spiral

Abstract This study focuses on the sudden shaking phenomenon of a sliding door passing through a corner. This phenomenon requires attention because shaking during movement can lead to a harsh operation feeling and a short service life. An experiment based on a test setup was conducted, and the sudden change in the acceleration of a sliding door panel was measured. Based on multi-body dynamics (MBD) analysis and a rigid-flexible coupled model of the sliding door system, the cause of the sudden shaking was determined to be the discontinuous curvature of the middle rail trajectory. A transition curve was proposed as the solution for the discontinuous curvature, and Euler’s spiral was applied in the redesign of the middle rail trajectory. Verified by simulations, the results exhibit considerable improvement in sliding door movement stability, with large reductions in the maximum center of mass (CM) acceleration and guide roller impact force.
Journal Article

Study of Temperature Distribution and Parametric Optimization during FSW of AA6082 Using Statistical Approaches

Abstract In this article, Al-Mg-Si-Mn alloy (AA6082) is butt joined by employing friction stir welding (FSW). The mechanical and metallurgical properties of joints are analyzed by conducting tensile and microhardness testing, respectively. To measure the temperature at different locations, eight thermocouples (L-shaped k-type) are placed at equal distance from the centerline. Least square method attempts to calculate the temperature at the centerline of joints. The process parameters are also optimized using Taguchi’s five-level experimental design. The optimum process parameters are determined, employing ultimate tensile strength (UTS) as a response parameter. A statistical test “analysis of variance” is used to check the adequacy of the model. It has been observed that rotational speed and feed rate are the predominant factors for UTS and microhardness.
Journal Article

Study of Riding Assist Control Enabling Self-Standing in Stationary State

Abstract In motorcycles, when they are traveling at medium to high speed, the roll stability is usually maintained by the restoration force generated by self-steering effect. However, when the vehicle is stationary or traveling in low speed, sufficient restoring force does not occur because some of the forces, such as centrifugal force, become small. In our study, we aimed at prototyping a motorcycle having a roll stability realized by a steering control when the vehicle is stationary or traveling in low speed. When we considered a mathematical control model to be applied, general models of four-degree-of-freedom had a critical inconvenience that the formulae include nonlinear second derivatives making them excessively complicated for deriving a practically applicable control method. Accordingly, we originally constructed a new control model which has equivalent two point masses (upper and lower from the vehicle’s center of gravity).
Journal Article

Stability Analysis of Combined Braking System of Tractor-Semitrailer Based on Phase-Plane Method

Abstract An analysis method for the stability of combined braking system of tractor-semitrailer based on phase-plane is investigated. Based on a 9 degree of freedom model, considering longitudinal load transfer, nonlinear model of tire and other factors, the braking stability of tractor-semitrailer is analyzed graphically on the phase plane. The stability of both tractor and semitrailer with different retarder gear is validated with the energy plane, β plane, yaw angle plane and hinged angle plane. The result indicates that in the long downhill with curve condition, both tractor and semitrailer show good stability when retarder is working at 1st and 2nd gear, and when it is at 3rd gear, the tractor is close to be unstable while semitrailer is unstable already. Besides, tractor and semitrailer both lose stability when retarder is working at the 4th gear.
Journal Article

Speed Planning and Prompting System for Commercial Vehicle Based on Real-Time Calculation of Resistance

Abstract When commercial vehicles drive in a mountainous area, the complex road condition and long slopes cause frequent acceleration and braking, which will use 25% more fuel. And the brake temperature rises rapidly due to continuous braking on the long-distance downslopes, which will make the brake drum fail with the brake temperature exceeding 308°C [1]. Meanwhile, the kinetic energy is wasted during the driving progress on the slopes when the vehicle rolls up and down. Our laboratory built a model that could calculate the distance from the top of the slope, where the driver could release the accelerator pedal. Thus, on the slope, the vehicle uses less fuel when it rolls up and less brakes when down. What we do in this article is use this model in a real vehicle and measure how well it works.
Journal Article

Robust Design for Steering Mechanism Based on Preference Function

Abstract In order to improve robustness of vehicle dynamic performance, a steering mechanism model is proposed with alignment parameters of front wheel based on preference function method. In the steering mechanism model controllable variables include the trapezoid connection length, the base angle of steering trapezoid, the kingpin inclination angle, caster, camber and uncontrollable variables include load and initial braking velocity. Optimization objective is some vehicle dynamic performance. In the preference function method the individual performance preference and preference aggregation in designing variable space and performance variable space are analyzed. The individual performance preference includes the controllable variable preference, noise factor preference and optimization objective preference. The aggregation function is developed by aggregating all the individual performance preferences.
Journal Article

Response of Austempering Heat Treatment on Microstructure and Mechanical Property in Different Zones of As-Welded Ductile Iron (DI)

Abstract Sound ductile iron (DI) welded joints were performed using developed coated electrode and optimized welding parameters including post weld heat treatment (PWHT).Weldments consisting of weld metal, partially melted zone (PMZ), heat affected zone (HAZ) and base metal were austenitized at 900 °C for 2 hour and austempered at 300 °C and 350 °C for three different holding time (1.5 hour, 2 hour and 2.5 hour). In as-weld condition, microstructures of weld metal and PMZ show ledeburitic carbide and alloyed pearlite, but differ with their amount. Whereas microstructure of HAZ shows pearlite with some ledeburitic carbide and base metal shows only ferrite.
Journal Article

Railway Fastener Positioning Method Based on Improved Census Transform

Abstract In view of the fact that the current positioning methods of railway fasteners are easily affected by illumination intensity, bright spots, and shadows, a positioning method with relative grayscale invariance is proposed. The median filter is used to remove the noise in order to reduce the adverse effects on the subsequent processing results, and the baffle seat edge features are enhanced by improved Census transform. The mean-shift clustering algorithm is used to classify the edges to weaken the interference by short lines. Finally, the Hough transform is used to quickly extract the linear feature of the baffle seat edge and achieve the exact position of the fastener with the prior knowledge. Experimental results show that the proposed method can accurately locate and have good adaptability under different illumination conditions, and the position accuracy is increased by 4.3% and 8%, respectively, in sunny and rainy days.
Journal Article

Performance Margin for Geometric Road Design

Abstract Although several methods exist for measuring the performance capability of a vehicle, many require detailed knowledge of the forces acting at each tire contact patch or do not account for both the vehicle dynamics and the road geometry. A simple vehicle model is proposed to estimate the upper limit of performance capability for a given operating condition (the Performance Envelope) based on the Effective Friction and the road geometry (slope and cross-slope). The Effective Friction accounts for both the vehicle dynamics and road surface properties and is estimated, through simulation or experimentation, using two standard vehicle dynamics tests: constant radius cornering and straight-line braking. The Performance Margin is defined as the additional performance capability available before the vehicle reaches the Performance Envelope, both represented in the intuitive units of gravity.
Journal Article

Parametric Study of Asymmetric Side Tapering in Constant Cross Wind Conditions

Abstract Sports Utility Vehicles (SUVs) often have blunt rear end geometries for design and practicality, which is not typically aerodynamic. Drag can be reduced with a number of passive and active methods, which are generally prioritised at zero yaw, which is not entirely representative of the “on road” environment. As such, to combine a visually square geometry (at rest) with optimal drag reductions at non-zero yaw, an adaptive system that applies vertical side edge tapers independently is tested statically. A parametric study has been undertaken in Loughborough University’s Large Wind Tunnel with the ¼ scale Windsor Model. The aerodynamic effect of implementing asymmetric side tapering has been assessed for a range of yaw angles (0°, ±2.5°, ±5° and ±10°) on the force and moment coefficients.
Journal Article

Parameter Sensitivity and Process Time Reduction for Friction Element Welding of 6061-T6 Aluminum to 1500 MPa Press-Hardened Steel

Abstract Conventional fusion joining techniques pervasive in the automotive industry are unable to effectively join aluminum and steel. To solve this problem, a technique termed friction element welding (FEW) has been developed, which is able to join any nonferrous top sheet material to a base steel layer, independent of the base layer strength. FEW works on the same principles as friction welding, as a steel element is pushed and rotated against a nonferrous top sheet to create frictional energy which softens and flows the material around the fastener shaft and under the fastener head, exposing the steel below. The element then contacts the steel and bonds through traditional friction welding. FEW is a four-step process (penetration, cleaning, welding, compression), with two to four parameters (endload, spindle speed, displacement transition, time transition) controlling each step.
Journal Article

PSO-Fuzzy Gain Scheduling of PID Controllers for a Nonlinear Half-Vehicle Suspension System

Abstract The present article addresses the gain scheduling of proportional-integral-differential (PID) controllers using fuzzy set theory coupled with a metaheuristic optimization technique to control the vehicle nonlinear suspension system. The nonlinearities of the vehicle suspension system are due to the asymmetric piecewise dampers, quadratic tire stiffness, and the cubical spring stiffness. Conventional PID controller suffers from the low performance subject to modeling nonlinearities, while fuzzy logic controller (FLC), as a universal approximator, has the capacity to deal with the nonlinear, stochastic, and complex models. However, finding the optimal Mamdani FLC rules is still a challenging task in addition to a proper architecture of the membership functions (MFs). As a remedy to this drawback, particle swarm optimization (PSO) technique is employed in this article to improve the efficiency of the FLC-based PID controllers.
Journal Article

Obstacle Avoidance for Self-Driving Vehicle with Reinforcement Learning

Abstract Obstacle avoidance is an important function in self-driving vehicle control. When the vehicle move from any arbitrary start positions to any target positions in environment, a proper path must avoid both static obstacles and moving obstacles of arbitrary shape. There are many possible scenarios, manually tackling all possible cases will likely yield a too simplistic policy. In this paper reinforcement learning is applied to the problem to form effective strategies. There are two major challenges that make self-driving vehicle different from other robotic tasks. Firstly, in order to control the vehicle precisely, the action space must be continuous which can’t be dealt with by traditional Q-learning. Secondly, self-driving vehicle must satisfy various constraints including vehicle dynamics constraints and traffic rules constraints. Three contributions are made in this paper.
Journal Article

Multi-Objective Optimization of Counterweights: A Substitute for the Balance Shaft or Mass Unbalancing in Three-Cylinder Engines

Abstract Three-cylinder engines were launched, given the increasing demand for improved fuel economy and efficiency along with reduced friction and weight. Unlike four-cylinder engines, these engines are not naturally balanced. So, in order to compete with four-cylinder engines, some methods to solve this inherent weakness, such as balance shaft, mass unbalancing of flywheel and crankshaft pulley, or counterweights configuration (angular orientation and correction amount), have been used. Considering the undesirable characteristics of the balance shaft, such as cost, weight, friction, and noise, as well as dynamically inappropriate mass unbalancing method, this research proposes multi-objective optimization of counterweights to reduce vibrations.
Journal Article

Metallurgical Approach for Improving Life and Brinell Resistance in Wheel Hub Units

Abstract Raceway Brinell damage is one major cause of wheel bearing (hub unit) noise during driving. Original Equipment Manufacturer (OEM) customers have asked continuously for its improvement to the wheel bearing supply base. Generally, raceway Brinelling in a wheel hub unit is a consequence of metallic yielding from high external loading in a severe environment usually involving a side impact to the wheel and tire. Thus, increasing the yielding strength of steel can lead to higher resistance to Brinell damage. Both the outer ring and hub based on Generation 3 (Gen. 3) wheel unit are typically manufactured using by AISI 1055 bearing quality steel (BQS); these components undergo controlled cooling to establish the core properties then case hardening via induction hardening (IH). This paper presents a modified grade of steel and its IH design that targets longer life and improves Brinell resistance developed by ILJIN AMRC (Advanced Materials Research Center).
Journal Article

Low Cycle Fatigue and Ratcheting Behavior of SA333 Gr-6 Steel at 300°C Temperature

Abstract The objective of this investigation is to study the cyclic deformation behavior of SA333 Gr-6 C-Mn steel at 300°C. Low cycle fatigue tests were carried out at total strain amplitude between ±0.35 and ±1.25% at a constant strain rate of 1 × 10−3 s−1. Ratcheting tests were conducted at a various combination of mean stress and stress amplitude at a constant stress rate of 115 MPa s−1. The material SA333 Gr-6 steel exhibits cyclic hardening throughout its fatigue life. The material shows non-Masing behavior and deviation (δσo ) from Masing behavior increase with an increase of strain amplitude. Ratcheting strain accumulation increases, whereas ratcheting life decreases with an increase in mean stress or stress amplitude. With an increase in mean stress and stress amplitude, ratcheting rate also increases. The material shows hardening characteristic due to dynamic strain aging (DSA) phenomena.
Journal Article

Investigation of Fatigue Life of Wheels in Commercial Vehicles

Abstract In India, vehicle population increases every day along with road accidents by 2.5% every year. About 7.7% of accidents are caused by wheel separation, 60% of which are due to nut-related problems. Wheel separations in vehicles occur due to fastener issues and fatigue failures in bolts. A study of the reasons for and mechanisms of nut loosening showed that left-hand side wheels detached and fracture failure occurred in right-hand side studs. Fatigue life of wheels with Nord-Lock washer and without washer is determined by using numerical analysis as per the IS 9438 cornering fatigue test. These numerical results are compared with experimental results.
Journal Article

Integrated Positioning Method for Intelligent Vehicle Based on GPS and UWB

Abstract Knowledge of intelligent vehicle absolute position is a vital premise for the implementation of decision programming, kinematic and dynamics control. In order to achieve high accuracy positioning and reduce running cost as much as possible under all operating conditions, this paper proposed an integrated positioning method based on GPS and Ultra Wide Band(UWB) for intelligent vehicle’s navigation and position system. In this method, GPS and UWB are alternately active according to the confidence level of GPS signal. When the vehicle is traveling in a wide-open area and GPS signal is well received, the positioning results of Dead Reckoning system are corrected by the low frequency positioning output from GPS. During the correcting process, in order to realize the better fusion of measurement data, a simplified federal Kalman filter was designed by using indirect method.
Journal Article

Innovative Approach of Wedge Washer to Avoid Bolt Loosening in Automotive Applications

Abstract Automotive vehicle includes various systems like engine, transmission, exhaust, air intake, cooling and many more systems. No doubt the performance of individual system depends upon their core design. But for performance, the system needs to be fastened properly. In automotive, most of the joints used fasteners which helps in serviceability of the components. There are more than thousands of fasteners used in the vehicle. At various locations, we found issue of bolt loosening and because of this design intent performance has not met by the system. During product development of ECS (Engine cooling system), various issues reported to loosening the bolt. The pre-mature failure of bolt loosening, increases the interest in young engineers for understanding the behavior of fastener in vehicle running conditions. This paper focuses on the design of wedge shape of washer to avoid bolt loosening.