Barys Shyrokau - Profile on Academia.edu (original) (raw)

Papers by Barys Shyrokau

Sensors, 2021

With the automotive industry moving towards automated driving, sensing is increasingly important ... more With the automotive industry moving towards automated driving, sensing is increasingly important in enabling technology. The virtual sensors allow data fusion from various vehicle sensors and provide a prediction for measurement that is hard or too expensive to measure in another way or in the case of demand on continuous detection. In this paper, virtual sensing is discussed for the case of vehicle suspension control, where information about the relative velocity of the unsprung mass for each vehicle corner is required. The corresponding goal can be identified as a regression task with multi-input sequence input. The hypothesis is that the state-of-art method of Bidirectional Long–Short Term Memory (BiLSTM) can solve it. In this paper, a virtual sensor has been proposed and developed by training a neural network model. The simulations have been performed using an experimentally validated full vehicle model in IPG Carmaker. Simulations provided the reference data which were used for Neural Network (NN) training. The extensive dataset covering 26 scenarios has been used to obtain training, validation and testing data. The Bayesian Search was used to select the best neural network structure using root mean square error as a metric. The best network is made of 167 BiLSTM, 256 fully connected hidden units and 4 output units. Error histograms and spectral analysis of the predicted signal compared to the reference signal are presented. The results demonstrate the good applicability of neural network-based virtual sensors to estimate vehicle unsprung mass relative velocity.

Driving simulators are widely used for understanding human-machine interaction, driver behavior a... more Driving simulators are widely used for understanding human-machine interaction, driver behavior and in driver training. The effectiveness of simulators in this process depends largely on their ability to generate realistic motion cues. Though the conventional filter-based motion-cueing strategies have provided reasonable results, these methods suffer from poor workspace management. To address this issue, linear MPC-based strategies have been applied in the past. However, since the kinematics of the motion platform itself is nonlinear and the required motion varies with the driving conditions, this approach tends to produce sub-optimal results. This paper presents a nonlinear MPC-based algorithm which incorporates the nonlinear kinematics of the Stewart platform within the MPC algorithm in order to increase the cueing fidelity and use maximum workspace. Furthermore, adaptive weights-based tuning is used to smooth the movement of the platform towards its physical limits. Full-track simulations were carried out and performance indicators were defined to objectively compare the response of the proposed algorithm with classical washout filter and linear MPC-based algorithms. The results indicate a better reference tracking with lower root mean square error and higher shape correlation for the proposed algorithm. Lastly, the effect of the adaptive weights-based tuning was also observed in the form of smoother actuator movements and better workspace use.

The research discusses the problems of designing the automotive safety systems as comprehensive o... more The research discusses the problems of designing the automotive safety systems as comprehensive objects at the interface between the vehicle dynamics control, intelligent transportation systems and human machine interface. Taking into account the extreme uncertainty of the driving environment, the development of reliable safety control systems is possible only on the basis of intelligent analytical methods. In the work under

Transport, 2005

The paper discusses several aspects of active safety control for automotive application. Particul... more The paper discusses several aspects of active safety control for automotive application. Particular emphasis is placed on the fuzzy logic determination of friction properties of a tyre‐road contact. An example of vehicle control systems equipped with off‐board sensors of road roughness, temperature, moisture and rain intensity demonstrates the implementation of this approach. The paper proposes conceptual solutions for preventive active

Experimental Study on Continuous ABS Operation in Pure Regenerative Mode for Full Electric Vehicle

SAE International Journal of Passenger Cars - Mechanical Systems, 2015

ABSTRACT

SAE International Journal of Passenger Cars - Mechanical Systems, 2013

During vehicle operation, the control objectives of stability, handling, energy consumption and c... more During vehicle operation, the control objectives of stability, handling, energy consumption and comfort have different priorities, which are determined by road conditions and driver behavior. To achieve better operation characteristics of vehicle, coordinated control of vehicle subsystems is actively used. The fact of more active vehicle subsystems in a modern passenger car provides more flexibility for vehicle control and control algorithm development. Since the modern vehicle can be considered as over-actuated system, control allocation is an effective control technique to solve such kind of problem.

Integrated vehicle dynamics control with the coordination of several vehicle subsystems is consid... more Integrated vehicle dynamics control with the coordination of several vehicle subsystems is considered. The proposed algorithms of subsystem coordination based on restriction weights into the optimal control allocation allow to achieve lower energy consumption without significant impairment of stability of motion and vehicle handling compared with standard control allocation. The proposed control system was investigated using HIL test rig with hardware components of friction brake system and dynamic tire pressure system.

Export Date: 2 December 2013, Source: Scopus

Development of brakes as components of automotive control systems like ABS or ESC requires comple... more Development of brakes as components of automotive control systems like ABS or ESC requires complex experimentations with related testing equipment. First of all it concerns investigations to estimate the influence of brake system dynamics on the robustness and stability of the control algorithm. On the other hand, the brake performance or NVH properties give additional impact factors for the control system operation. Within this scope the paper introduces the concept and the first implementation results of the Test-Rig-In-the-Loop (TRIL) tool. The TRIL architecture presents a combination of two different types of testing technique - the brake dynamometer and the hardware-in-the-loop (HIL) brake rig. This combination allows the direct control of the brake installed on dynamometer through a hydraulic actuation in accordance with the algorithm logic provided by the HIL system. It makes possible the assessment of the performance-related and tribological brake parameters under diverse HI...

This paper describes a multi-layer structure based on control allocation with dynamic weight sche... more This paper describes a multi-layer structure based on control allocation with dynamic weight scheduling. The computational investigation of the proposed control structure is carried out using 14 DoF vehicle model in the wide range of vehicle curvilinear motion for ‘Sine with Dwell’ test. The proposed control allocation with dynamic weight scheduling demonstrates lower energy loss without significant impairment of stability of motion and vehicle handling compared to control allocation with fixed weight distribution.

4x4 terrain vehicle applications widely use positively locked power dividing units (PDU) in the t... more 4x4 terrain vehicle applications widely use positively locked power dividing units (PDU) in the transfer case. Such PDUs considerably improve vehicle mobility by keeping identical rotational velocities of the front and rear wheels and re-distributing the torque between the driving axles as terrain conditions require. The mentioned equality of the angular speeds leads to kinematic discrepancy in linear velocities of the driving axles when a vehicle undertakes turns. The paper presents an analytical method to evaluate this discrepancy and analytically demonstrates its influence on extra power losses on slippage of the front and rear tires and thus on extra fuel consumption. To avoid these extra power losses and fuel consumption, the paper presents a method for controlling the kinematic discrepancy by reducing it to zero values. This was done without negative impacts on vehicle dynamics. The theoretical propositions are illustrated by computer simulations of a 4x4 heavy-duty truck turn...

One of the most challenging problems in off-road vehicle dynamics control is connected with devel... more One of the most challenging problems in off-road vehicle dynamics control is connected with development of new generation of systems aimed at simultaneous optimization of performance, safety, and mobility. Progress in this area is closely associated with fusion of driveline, braking and steering control on the basis of intelligent architecture. The presented work contributes to this topic and discusses the following aspects.1) Multi-level architecture of integrated off-road vehicle control: Controlling systems and vehicle properties as intelligent agents, decision-making process.2) Fusion of control systems: Control philosophy of integrated electronic stability program, torque vectoring, and active front steering from viewpoint of vehicle performance and stability. 3) Simulation: Case studies for simultaneous operation of electronic stability program, torque vectoring and active front steering. The results presented in the paper can be used by development of vehicle dynamics control...

2013 IEEE Symposium on Computational Intelligence for Engineering Solutions (CIES), 2013

Coordination between friction brake system, individual-wheel drive electric motors and tire infla... more Coordination between friction brake system, individual-wheel drive electric motors and tire inflation pressure system is considered. To coordinate vehicle subsystems, optimization-based control allocation is used. The influence of subsystem coordination on criteria of vehicle dynamics (braking distance, RMSE of longitudinal acceleration, RMSE of yaw rate, sideslip angle) and energy consumption and losses (recuperated energy during maneuver and tire energy dissipation) were analyzed for straight-line braking and brake-in-turn maneuvers by simulation investigation. The proposed control system was investigated using HIL test rig with hardware components of friction brake system and tire inflation pressure system.

An active implementation of mechatronic technologies and electronic drives leads to an essential ... more An active implementation of mechatronic technologies and electronic drives leads to an essential increase of autonomy of sub-systems in modern and coming ground vehicles. On the one hand it makes possible efficient technologies of multi-task control. On the other hand the autonomy of vehicle sub-systems can call for internal conflicts of properties, for instance, between comfort and safety. From these positions the presented research discusses the following issues. 1) Multi-agent vehicle architecture: Analysis of connections between vehicle sub-systems and properties; introduction of vehicle structure composed from agents. 2) Strategy of vehicle dynamics control using objective functions. 3) Case study: Realization of agents for the brake, driveline, and steering; Integrated control of performance and stability of motion; Analysis of results obtained by model- and hardware-in-the-loop simulation. The research outcomes show that an intelligent placing of priorities by the control on ...

The hysteresis in mechanical subsystems is a well-known effect. It causes a delay of system react... more The hysteresis in mechanical subsystems is a well-known effect. It causes a delay of system reaction and reduces the control accuracy. For brake system, the static hysteresis is usually considered in loading-unloading cycle. Usually for simulation studies, hysteresis is expressed as a time delay or as linear functions. The paper introduces investigations of hysteresis-characterized processes in the brake system and relevant dynamic model of this effect for further application to ABS and ESC control algorithms. The paper is organized as follows: the first part analyzes the literature sources and previous research works on the experimental data of hysteresis-characterized processes under different operational conditions. The hysteresis process is analyzed for the cases: (i) "input pressure vs. brake piston displacement", and (ii) "input pressure vs. realized brake moment in the friction pair". The experimental results demonstrated that the hysteresis taking place i...

Research and/or Engineering Questions/Objective: Design of brake system for electric vehicles inc... more Research and/or Engineering Questions/Objective: Design of brake system for electric vehicles includes development of a number of functions as (i) brake torque blending between the friction brakes and electric motors, (ii) regenerative braking mode, and (iii) anti-lock brake system (ABS) operating with electric motors. The presented study has investigated these functions in relation to the vehicle with four individual electric motors and decoupled electro-hydraulic brake system. Methodology: The proposed blending and regenerative braking control algorithms use the strategy of brake force distribution with maximization of energy that could be recuperated during the braking manoeuvres. The realization of anti-lock brake system is based on the direct individual wheel slip control. The corresponding controller includes also several accompanying functions like slip target adaptation and switching in ABS mode between operation of electric motors and hydraulic brake system. Experimental in...

Investigation of brake control using test Rig-in-the-Loop technique

ABSTRACT Research and development tools for investigations of various facets of braking processes... more ABSTRACT Research and development tools for investigations of various facets of braking processes cover three major groups of devices: Dynamometer test rigs: assessment of performance, durability, life cycle and others; Tribometer test rigs: definition of parameters of friction and wear; Hardware-in-the-loop: estimation of functional properties of controlled braking. A combination of the listed devices allows to research complex phenomena related to braking systems. The presented work discusses a novel approach of test rig fusion, namely the combination of a brake dynamometer and hardware in the loop test rig. First investigations have been done during the operation of the anti-lock braking system (ABS) system to demonstrate the functionality of the approach. This task requires the following configuration of test equipment: NVH-brake dynamometer with integrated climatic chamber; Hardware-in-the-loop test rig including dSpace controllers, hydraulic brake system, and sensors and actuators of the ABS system; Beside the introduction of the testing hardware, especially the dynamometer design layout and its operational parameters plus the hardware-in-the-loop test rig, the used control algorithms are presented. Moreover one can find the used parameters for first verification studies of the new approach. As an essential conclusion it is recommended by the authors that future braking test equipment for the laboratory should consider the new and integrated approach of the Test Rig-in-the-Loop layout.

Vehicle motion control with subsystem prioritization

Mechatronics, 2014

ABSTRACT This paper presents a new approach for integrated vehicle motion control, coordinating m... more ABSTRACT This paper presents a new approach for integrated vehicle motion control, coordinating multiple vehicle subsystems of a passenger car including friction brake system, near-wheel drive electric motors, wheel steer actuators, camber angle actuators, dynamic tire pressure system and actuators generating additional normal forces. The proposed algorithms are based on restriction weights into the cost function of optimization-based control allocation. Hardware-in-the-loop investigation using a test rig with hardware components of friction brake system and dynamic tire pressure system showed that the proposed approach allows to achieve lower energy consumption and energy losses without significant impairment of motion stability and vehicle handling as compared to conventional control allocation.

Design and Testing of ABS for Electric Vehicles with Individually Controlled On-Board Motor Drives

SAE International Journal of Passenger Cars - Mechanical Systems, 2014

ABSTRACT The paper introduces the results of the development of anti-lock brake system (ABS) for ... more ABSTRACT The paper introduces the results of the development of anti-lock brake system (ABS) for full electric vehicle with individually controlled near-wheel motors. The braking functions in the target vehicle are realized with electro-hydraulic decoupled friction brake system and electric motors operating in a braking mode. The proposed ABS controller is based on the direct slip and velocity control and includes several main blocks for computing of predictive (feedforward) and reactive (feedback) brake torque, wheel slip observer, slip target adaptation, and the algorithm of brake blending between friction brakes and electric motors. The functionality of developed ABS has been investigated on the HIL test rig for straight-line braking manoeuvres on different surfaces with variation of initial velocity. The obtained experimental results have been compared with the operation of baseline algorithm of a hydraulic ABS and have demonstrated a marked effect in braking performance.

Journal of Terramechanics, 2010

The paper discusses the identification problems of the parameters characterizing the interaction ... more The paper discusses the identification problems of the parameters characterizing the interaction of a tyre with different ground surfaces. The corresponding methods of tyre-surface contact monitoring are proposed on the basis of the fuzzy sets theory. The both cases of wheel rolling on a road and on a deformable ground are considered with particular emphasis on the identification of the friction and rolling resistance parameters in relation to environmental properties and tyre loading modes. The developed theory is illustrated by examples of the cascade fuzzy observers using the off-board and on-board information space. To verify the proposed theoretical propositions, the work contains also the corresponding results of the Hardware-and Software-Inthe-Loop simulation. These fuzzy computing procedures can be used in various control systems of cars, off-road vehicles and agricultural machines as well as in applications of Intelligent Transportation Systems. This paper is an extended version of the work "Identification and prediction of tyre-surface interaction parameters" presented at the 16th ISTVS Conference.