1,721,156 research outputs found
A software suite for online practice class and autonomous study on process control
No full textThe paper presents a software suite to support both online practice sessions and autonomous student activity for the BSc-level Process Control course offered at the Politecnico di Milano within the Automation Engineering curriculum. The peculiar and multi-objective nature of the course causes the suite design to contain some nontrivial choices, that are part of the contribution. A few examples of the supported activities are reported to illustrate the presented ideas. The suite makes a combined use of Matlab/Simulink and Modelica; as soon as possible it will be released as free software within a 3-clause BSD licence
Iterative tuning of engine speed controller for launch control applications in sport motorcycles
No full textIn this work, engine rotational speed controller tuning issue is analyzed. To cope with actuation limitations, controller tuning is addressed in an iterative framework by means of the Iterative Feedback Tuning method. Subsequent iterations are needed to gain information on the controlled system and to meet closed-loop performance defined by means of a reference model. Finally, tuning results are discussed and closed-loop performance are analyzed
Active motorcycle braking via direct data-driven load transfer scheduling
No full textBraking is recognized to be one of the most critical and sensitive maneuvers by most motorbikers and race-engineers. Many recent studies have been devoted to model-based design of electronic control systems to enhance the driver’s safety. In this work, a linear parameter-varying approach for braking control is proposed, based on the observation that in motorcycles the load transfer strongly affects the vehicle dynamics. Since modeling a real-world system might be very time-consuming, a direct data-driven approach is employed to tune the controller parameters, without need of a mathematical description of the system. The strategy is implemented on a full-fledged multibody simulator, and results are compared to a standard model-based strategy
On the Periodic Noise Affecting Wheel Speed Measurement
No full textThis paper addresses the measurement of the wheel angular velocity of wheeled vehicles. The wheel angular velocity measurement is often aected by large periodic disturbances. The paper proposes a model of the origin of that disturbance: even a small oset in the positioning of the encoder can cause large, velocity dependent noise. After having shown that the periodic term is indeed a noise and not part of the actual signal, an adaptive notch filter is discussed. Lyapunov theory is employed to prove the quadratic stability of the time-variant lter. An analysis of both simulation and experimental tests supports the analysis and methods
Simultaneous Energy Management and Speed Control in a Hybrid Tractor With Experimental Validation
Full text linkIn recent years, the hybridization process is an emerging trend in heavy-duty vehicles and agricultural machinery. In this work, a parallel hybrid tractor is studied, aiming at developing an energy management strategy (EMS) able to deal with the built-in speed tracking requirements. Indeed, a speed controller is originally present in the tractor, so that the driver directly sends a speed command through the pedal. We propose an EMS based on the equivalent consumption minimization strategy (ECMS), which is properly modified to explicitly include the speed tracking objective. Then, the stability of the closed-loop system needs to be proven and discussed. Finally, the designed EMS is implemented on the tractor control unit and validated through a large experimental campaign on a small track. First, the benefits induced by the explicit consideration of the speed tracking are highlighted, and then the fuel-saving performance is assessed in different conditions, experiencing 14% of fuel saved on average, consistent with the simulation results
Longitudinal Velocity Estimation in Single-Track Vehicles
No full textVehicle dynamics control systems are becoming available for single-track vehicles. The dynamics of single-track vehicles have some unique features that require ad hoc solutions. One of the most critical aspects is the estimation of the vehicle body velocity. In this paper the problem of estimating the body velocity of a two wheeled vehicle for traction control applications is discussed. The front wheel velocity and the longitudinal acceleration measurements are used to estimate the vehicle velocity according to a sensor fusion philosophy. The complementary filter approach is compared against a more advanced Kalman filter. It is shown that the mentioned Kalman filter can be written as a second order complementary filter; this allows to derive quantitative guidelines for the tuning of the filter. The proposed methods are shown to be more robust to wheelies than the front wheel velocity based estimate. Experimental tests on an instrumented bike validate the methods for traction control applications
Wheelie detection for single-track vehicles
No full textSingle-track vehicles electronic control systems
have been experiencing an important growth in the last years.
Despite some similarities with four-wheeled vehicles the dynamics
of two-wheeled vehicles have some unique features
that require ad hoc solutions. One of those is the lift of
the front wheel from the ground during severe accelerations,
usually known as wheelie. This phenomenon is particularly
important since, if not controlled, can lead to vehicle instabilities.
Moreover, it has a significant impact on the vehicle
longitudinal speed estimation, essential for the development of
wheel slip-based traction control systems, so widely spreading.
In this paper the problem of detecting a wheelie occurrence is
discussed. Two algorithms, that employ only standard vehicle
equipment sensors, are presented. Their parameter tuning
procedure is described and experimental data are used to show
their effectiveness, as well as for a performances comparison
On adaptive electronic throttle control for sport motorcycles
No full textThis paper addresses the control of an electronic throttle body (ETB) for ride-by-wire applications in sport motorcycles. The systems dynamics are identified in closed loop, providing a description of the system in terms of linear dynamics augmented with friction effects. This model enables the design of a controller made of a linear part and a hybrid feedforward–feedback friction compensator. The controller is computationally efficient and an adaptive version is proposed. Experimental tests validate the proposed architectur
Traction-Control-Oriented State Estimation for Motorcycles
No full textThis brief addresses two estimation problems relevant to traction control for motorcycles: longitudinal vehicle velocity estimation and wheelie (i.e., front wheel lifting off the ground during acceleration) detection. Two methods to estimate the vehicle body velocity are discussed and compared: a complementary filter and a Kalman filter. The Kalman filter reduces the noise affecting the estimate of the longitudinal vehicle velocity by an order of magnitude without introducing any phase lag. Furthermore, a wheelie detection algorithm is developed. The approach is based on the fault detection paradigm and detects wheelies in 70 ms. Both methods are computationally efficient and industrially viable. Track tests on an instrumented sport motorcycle are employed to illustrate and validate the method
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