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Research paper thumbnail of The Control and Stability Analysis of Two-Wheeled Road Vehicles

The multibody dynamics analysis software, AUTOSIM, is used to develop automated linear and nonlin... more The multibody dynamics analysis software, AUTOSIM, is used to develop automated linear and nonlinear models for the hand derived motorcycle models presented in (Sharp, 1971, 1994b). A more comprehensive model, based on previous work (Sharp and Limebeer, 2001), is also derived and extended. One version of the code uses AUTOSIM to produce a FORTRAN or C program which solves the nonlinear equations of motion and generates time histories, and a second version generates linearised equations of motion as a MATLAB file that contains the state-space model in symbolic form. Local stability is investigated via the eigenvalues of the linearised models that are associated with equilibrium points of the nonlinear systems. The time histories produced by nonlinear simulation runs are also used with an animator to visualise the result. A comprehensive study of the effects of acceleration and braking on motorcycle stability with the use of the advanced motorcycle model is presented. The results show...

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Research paper thumbnail of Impact of Optimally Controlled Continuously Variable Transmission on Fuel Economy of a Series Hybrid Electric Vehicle

2018 European Control Conference (ECC), 2018

This paper investigates energy efficiency of a series hybrid electric vehicles (HEV) that utilize... more This paper investigates energy efficiency of a series hybrid electric vehicles (HEV) that utilizes a continuously variable transmission (CVT) to connect the electric motor to the wheels. In contrast with a fixed transmission FT that employs a fixed final drive ratio, the CVT offers variable transmission ratio that can be freely controlled, so that the motor is driven more efficiently. The performance of the CVT is evaluated within an optimal control framework under an urban drive mission, which is specified in terms of the road geometry and the traveling time for the journey. Apart from the CVT operation, vehicle speed and the energy management are also simultaneously optimized by an indirect optimal control method, based on the Pontryagin’s minimum principle (PMP). The simulation results illustrate the benefit of the CVT as compared to a fixed transmission in terms of fuel economy.

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Research paper thumbnail of Motorcycle control by variable geometry rear suspension

This work is about controlling the geometry of the rear suspe n ion to reduce cornering weave osc... more This work is about controlling the geometry of the rear suspe n ion to reduce cornering weave oscillations associated with high performance motorcycle s operating at high speeds. The main lateral oscillations in two-wheeled vehicles are “wobble” and “weave”. The wobble mode is a steering oscillation whose frequency is normally in the ran ge6− 9 Hz and varies little with speed. The weave mode is a fishtailing motion that involves mainly ya wing, rolling and steering of the vehicle. At low and intermediate speeds it is well damped but becomes less damped as the speed increases, in straight running or under moderate lean angle conditions. The natural frequency is lower in heavier motorcycles and rises from zero at very low s peed to somewhere in the range 2 − 4 Hz. In cornering, the above lateral modes and the in-plane ty re deflections and suspension modes become coupled, as was first shown by Koenen [1]. The mot orcycle becomes prone to resonant forcing when regular road undulations ...

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Research paper thumbnail of Optimized Design of Multi-Speed Transmissions for Parallel Hybrid Electric Vehicles

IFAC-PapersOnLine

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Research paper thumbnail of Uncertainties Investigation and µ-Synthesis Control Design for a Full Car with Series Active Variable Geometry Suspension

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Research paper thumbnail of Optimal Vehicle Following Strategy for Joint Velocity and Energy Management Control of Series Hybrid Electric Vehicles

IFAC-PapersOnLine

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Research paper thumbnail of Optimal Control for Connected and Autonomous Vehicles at Signal-Free Intersections

IFAC-PapersOnLine

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Research paper thumbnail of Tracking Control for Directional Drilling Systems Using Robust Feedback Model Predictive Control

IFAC-PapersOnLine

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Research paper thumbnail of Joint Propulsion and Cooling Energy Management of Hybrid Electric Vehicles by Optimal Control

IEEE Transactions on Vehicular Technology

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Research paper thumbnail of Hybrid Electric Vehicle Two-step Fuel Efficiency Optimization with Decoupled Energy Management and Speed Control

IEEE Transactions on Vehicular Technology

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Research paper thumbnail of Position Control of Parallel Active Link Suspension with Backlash

IEEE Transactions on Industrial Electronics

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Research paper thumbnail of Torque-leveling Threshold-changing Rule-based Control for Parallel Hybrid Electric Vehicles

IEEE Transactions on Vehicular Technology

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Research paper thumbnail of The combination of two control strategies for series hybrid electric vehicles

IEEE/CAA Journal of Automatica Sinica

With most countries paying attention to the environment protection, hybrid electric vehicles have... more With most countries paying attention to the environment protection, hybrid electric vehicles have become a focus of automobile research and development due to the characteristics of energy saving and low emission. Power follower control strategy (PFCS) and DC-link voltage control strategy are two sorts of control strategies for series hybrid electric vehicles (HEVs). Combining those two control strategies is a new idea for control strategy of series hybrid electric vehicles. By tuning essential parameters which are the defined constants under DC-link voltage control and under PFCS, the points of minimum mass of equivalent fuel consumption (EFC) corresponding to a series of variables are marked for worldwide harmonized light vehicles test procedure (WLTP). The fuel economy of series HEVs with the combination control schemes performs better compared with individual control scheme. The results show the effects of the combination control schemes for series HEVs driving in an urban environment.

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Research paper thumbnail of Quarter-Car Experimental Study for Series Active Variable Geometry Suspension

IEEE Transactions on Control Systems Technology

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Research paper thumbnail of Series active variable geometry suspension robust control based on full-vehicle dynamics

Journal of Dynamic Systems, Measurement, and Control

This paper demonstrates the ride comfort and road holding performance enhancement of the new road... more This paper demonstrates the ride comfort and road holding performance enhancement of the new road vehicle series active variable geometry suspension (SAVGS) concept using an H∞ control technique. In contrast with the previously reported work that considered simpler quarter-car models, the present work designs and evaluates control systems using full-car dynamics thereby taking into account the coupled responses from the four independently actuated corners of the vehicle. Thus, the study utilizes a nonlinear full-car model that represents accurately the dynamics and geometry of a high performance car with the new double wishbone active suspension concept. The robust H∞ control design exploits the linearized dynamics of the nonlinear model at a trim state, and it is formulated as a disturbance rejection problem that aims to reduce the body vertical accelerations and tire deflections while guaranteeing operation inside the existing physical constraints. The proposed controller is insta...

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Research paper thumbnail of Parallel Active Link Suspension: A Quarter-Car Experimental Study

IEEE/ASME Transactions on Mechatronics

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Research paper thumbnail of Hybrid electric vehicle fuel minimization by DC-DC converter dual-phase-shift control

Control Engineering Practice

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Research paper thumbnail of Series Active Variable Geometry Suspension application to comfort enhancement

Control Engineering Practice, 2017

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Research paper thumbnail of Voltage Control for Enhanced Power Electronic Efficiency in Series Hybrid Electric Vehicles

IEEE Transactions on Vehicular Technology, 2016

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Research paper thumbnail of An objective analysis of drivability for two wheeler powertrain with control oriented dynamic model∗∗This ongoing research is jointly sponsored by Commonwealth Scholarship Commission of United Kingdom and TVS Motor Company, India

IFAC-PapersOnLine, 2015

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Research paper thumbnail of The Control and Stability Analysis of Two-Wheeled Road Vehicles

The multibody dynamics analysis software, AUTOSIM, is used to develop automated linear and nonlin... more The multibody dynamics analysis software, AUTOSIM, is used to develop automated linear and nonlinear models for the hand derived motorcycle models presented in (Sharp, 1971, 1994b). A more comprehensive model, based on previous work (Sharp and Limebeer, 2001), is also derived and extended. One version of the code uses AUTOSIM to produce a FORTRAN or C program which solves the nonlinear equations of motion and generates time histories, and a second version generates linearised equations of motion as a MATLAB file that contains the state-space model in symbolic form. Local stability is investigated via the eigenvalues of the linearised models that are associated with equilibrium points of the nonlinear systems. The time histories produced by nonlinear simulation runs are also used with an animator to visualise the result. A comprehensive study of the effects of acceleration and braking on motorcycle stability with the use of the advanced motorcycle model is presented. The results show...

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Impact of Optimally Controlled Continuously Variable Transmission on Fuel Economy of a Series Hybrid Electric Vehicle

2018 European Control Conference (ECC), 2018

This paper investigates energy efficiency of a series hybrid electric vehicles (HEV) that utilize... more This paper investigates energy efficiency of a series hybrid electric vehicles (HEV) that utilizes a continuously variable transmission (CVT) to connect the electric motor to the wheels. In contrast with a fixed transmission FT that employs a fixed final drive ratio, the CVT offers variable transmission ratio that can be freely controlled, so that the motor is driven more efficiently. The performance of the CVT is evaluated within an optimal control framework under an urban drive mission, which is specified in terms of the road geometry and the traveling time for the journey. Apart from the CVT operation, vehicle speed and the energy management are also simultaneously optimized by an indirect optimal control method, based on the Pontryagin’s minimum principle (PMP). The simulation results illustrate the benefit of the CVT as compared to a fixed transmission in terms of fuel economy.

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Motorcycle control by variable geometry rear suspension

This work is about controlling the geometry of the rear suspe n ion to reduce cornering weave osc... more This work is about controlling the geometry of the rear suspe n ion to reduce cornering weave oscillations associated with high performance motorcycle s operating at high speeds. The main lateral oscillations in two-wheeled vehicles are “wobble” and “weave”. The wobble mode is a steering oscillation whose frequency is normally in the ran ge6− 9 Hz and varies little with speed. The weave mode is a fishtailing motion that involves mainly ya wing, rolling and steering of the vehicle. At low and intermediate speeds it is well damped but becomes less damped as the speed increases, in straight running or under moderate lean angle conditions. The natural frequency is lower in heavier motorcycles and rises from zero at very low s peed to somewhere in the range 2 − 4 Hz. In cornering, the above lateral modes and the in-plane ty re deflections and suspension modes become coupled, as was first shown by Koenen [1]. The mot orcycle becomes prone to resonant forcing when regular road undulations ...

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Research paper thumbnail of Optimized Design of Multi-Speed Transmissions for Parallel Hybrid Electric Vehicles

IFAC-PapersOnLine

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Uncertainties Investigation and µ-Synthesis Control Design for a Full Car with Series Active Variable Geometry Suspension

IFAC-PapersOnLine

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Optimal Vehicle Following Strategy for Joint Velocity and Energy Management Control of Series Hybrid Electric Vehicles

IFAC-PapersOnLine

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Optimal Control for Connected and Autonomous Vehicles at Signal-Free Intersections

IFAC-PapersOnLine

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Tracking Control for Directional Drilling Systems Using Robust Feedback Model Predictive Control

IFAC-PapersOnLine

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Joint Propulsion and Cooling Energy Management of Hybrid Electric Vehicles by Optimal Control

IEEE Transactions on Vehicular Technology

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Hybrid Electric Vehicle Two-step Fuel Efficiency Optimization with Decoupled Energy Management and Speed Control

IEEE Transactions on Vehicular Technology

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Position Control of Parallel Active Link Suspension with Backlash

IEEE Transactions on Industrial Electronics

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Torque-leveling Threshold-changing Rule-based Control for Parallel Hybrid Electric Vehicles

IEEE Transactions on Vehicular Technology

Bookmarks Related papers MentionsView impact

Research paper thumbnail of The combination of two control strategies for series hybrid electric vehicles

IEEE/CAA Journal of Automatica Sinica

With most countries paying attention to the environment protection, hybrid electric vehicles have... more With most countries paying attention to the environment protection, hybrid electric vehicles have become a focus of automobile research and development due to the characteristics of energy saving and low emission. Power follower control strategy (PFCS) and DC-link voltage control strategy are two sorts of control strategies for series hybrid electric vehicles (HEVs). Combining those two control strategies is a new idea for control strategy of series hybrid electric vehicles. By tuning essential parameters which are the defined constants under DC-link voltage control and under PFCS, the points of minimum mass of equivalent fuel consumption (EFC) corresponding to a series of variables are marked for worldwide harmonized light vehicles test procedure (WLTP). The fuel economy of series HEVs with the combination control schemes performs better compared with individual control scheme. The results show the effects of the combination control schemes for series HEVs driving in an urban environment.

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Quarter-Car Experimental Study for Series Active Variable Geometry Suspension

IEEE Transactions on Control Systems Technology

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Series active variable geometry suspension robust control based on full-vehicle dynamics

Journal of Dynamic Systems, Measurement, and Control

This paper demonstrates the ride comfort and road holding performance enhancement of the new road... more This paper demonstrates the ride comfort and road holding performance enhancement of the new road vehicle series active variable geometry suspension (SAVGS) concept using an H∞ control technique. In contrast with the previously reported work that considered simpler quarter-car models, the present work designs and evaluates control systems using full-car dynamics thereby taking into account the coupled responses from the four independently actuated corners of the vehicle. Thus, the study utilizes a nonlinear full-car model that represents accurately the dynamics and geometry of a high performance car with the new double wishbone active suspension concept. The robust H∞ control design exploits the linearized dynamics of the nonlinear model at a trim state, and it is formulated as a disturbance rejection problem that aims to reduce the body vertical accelerations and tire deflections while guaranteeing operation inside the existing physical constraints. The proposed controller is insta...

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Parallel Active Link Suspension: A Quarter-Car Experimental Study

IEEE/ASME Transactions on Mechatronics

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Hybrid electric vehicle fuel minimization by DC-DC converter dual-phase-shift control

Control Engineering Practice

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Series Active Variable Geometry Suspension application to comfort enhancement

Control Engineering Practice, 2017

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Voltage Control for Enhanced Power Electronic Efficiency in Series Hybrid Electric Vehicles

IEEE Transactions on Vehicular Technology, 2016

Bookmarks Related papers MentionsView impact

Research paper thumbnail of An objective analysis of drivability for two wheeler powertrain with control oriented dynamic model∗∗This ongoing research is jointly sponsored by Commonwealth Scholarship Commission of United Kingdom and TVS Motor Company, India

IFAC-PapersOnLine, 2015

Bookmarks Related papers MentionsView impact