Mathematical modelling of active safety system functions as tools for development of driverless vehicles

NASA Astrophysics Data System (ADS)

Ryazantsev, V.; Mezentsev, N.; Zakharov, A.

2018-02-01

This paper is dedicated to a solution of the issue of synthesis of the vehicle longitudinal dynamics control functions (acceleration and deceleration control) based on the element base of the vehicle active safety system (ESP) - driverless vehicle development tool. This strategy helps to reduce time and complexity of integration of autonomous motion control systems (AMCS) into the vehicle architecture and allows direct control of actuators ensuring the longitudinal dynamics control, as well as reduction of time for calibration works. The “vehicle+wheel+road” longitudinal dynamics control is complicated due to the absence of the required prior information about the control object. Therefore, the control loop becomes an adaptive system, i.e. a self-adjusting monitoring system. Another difficulty is the driver’s perception of the longitudinal dynamics control process in terms of comfort. Traditionally, one doesn’t pay a lot of attention to this issue within active safety systems, and retention of vehicle steerability, controllability and stability in emergency situations are considered to be the quality criteria. This is mainly connected to its operational limits, since it is activated only in critical situations. However, implementation of the longitudinal dynamics control in the AMCS poses another challenge for the developers - providing the driver with comfortable vehicle movement during acceleration and deceleration - while the possible highest safety level in terms of the road grip is provided by the active safety system (ESP). The results of this research are: universal active safety system - AMCS interaction interface; block diagram for the vehicle longitudinal acceleration and deceleration control as one of the active safety system’s integrated functions; ideology of adaptive longitudinal dynamics control, which enables to realize the deceleration and acceleration requested by the AMCS; algorithms synthesised; analytical experiments proving the efficiency and practicability of the chosen concept.

Development of High Fidelity Mobility Simulation of an Autonomous Vehicle in an Off-Road Scenario Using Integrated Sensor, Controller, and Multi-Body Dynamics

DTIC Science & Technology

2011-08-01

VEHICLE IN AN OFF-ROAD SCENARIO USING INTEGRATED SENSOR, CONTROLLER, AND MULTI-BODY DYNAMICS Paramsothy Jayakumar , PhD William Smith US Army...environment for a control system, mechanical system dynamics , and sensor simulation for an improved assessment of the vehicle system performance...improve vehicle dynamic performance; we must also evaluate and improve the sensor suite employed on the vehicle, and the controller used to operate

Analysis and design of a capsule landing system and surface vehicle control system for Mars exporation

NASA Technical Reports Server (NTRS)

Frederick, D. K.; Lashmet, P. K.; Sandor, G. N.; Shen, C. N.; Smith, E. J.; Yerazunis, S. W.

1972-01-01

The problems related to the design and control of a mobile planetary vehicle to implement a systematic plan for the exploration of Mars were investigated. Problem areas receiving attention include: vehicle configuration, control, dynamics, systems and propulsion; systems analysis; navigation, terrain modeling and path selection; and chemical analysis of specimens. The following specific tasks were studied: vehicle model design, mathematical modeling of dynamic vehicle, experimental vehicle dynamics, obstacle negotiation, electromechanical controls, collapsibility and deployment, construction of a wheel tester, wheel analysis, payload design, system design optimization, effect of design assumptions, accessory optimal design, on-board computer subsystem, laser range measurement, discrete obstacle detection, obstacle detection systems, terrain modeling, path selection system simulation and evaluation, gas chromatograph/mass spectrometer system concepts, chromatograph model evaluation and improvement and transport parameter evaluation.

Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration

NASA Technical Reports Server (NTRS)

Frederick, D. K.; Lashmet, P. K.; Sandor, G. N.; Shen, C. N.; Smith, E. J.; Yerazunis, S. W.

1972-01-01

Investigation of problems related to the design and control of a mobile planetary vehicle to implement a systematic plan for the exploration of Mars has been undertaken. Problem areas receiving attention include: vehicle configuration, control, dynamics, systems and propulsion; systems analysis; terrain modeling and path selection; and chemical analysis of specimens. The following specific tasks have been under study: vehicle model design, mathematical modeling of a dynamic vehicle, experimental vehicle dynamics, obstacle negotiation, electromechanical controls, collapsibility and deployment, construction of a wheel tester, wheel analysis, payload design, system design optimization, effect of design assumptions, accessory optimal design, on-board computer sybsystem, laser range measurement, discrete obstacle detection, obstacle detection systems, terrain modeling, path selection system simulation and evaluation, gas chromatograph/mass spectrometer system concepts, chromatograph model evaluation and improvement.

Convergent method of and apparatus for distributed control of robotic systems using fuzzy logic

DOEpatents

Feddema, John T.; Driessen, Brian J.; Kwok, Kwan S.

2002-01-01

A decentralized fuzzy logic control system for one vehicle or for multiple robotic vehicles provides a way to control each vehicle to converge on a goal without collisions between vehicles or collisions with other obstacles, in the presence of noisy input measurements and a limited amount of compute-power and memory on board each robotic vehicle. The fuzzy controller demonstrates improved robustness to noise relative to an exact controller.

Electrically heated particulate filter regeneration methods and systems for hybrid vehicles

DOEpatents

Gonze, Eugene V.; Paratore, Jr., Michael J.

2010-10-12

A control system for controlling regeneration of a particulate filter for a hybrid vehicle is provided. The system generally includes a regeneration module that controls current to the particulate filter to initiate regeneration. An engine control module controls operation of an engine of the hybrid vehicle based on the control of the current to the particulate filter.

Simulation and Flight Control of an Aeroelastic Fixed Wing Micro Aerial Vehicle

NASA Technical Reports Server (NTRS)

Waszak, Martin; Davidson, John B.; Ifju, Peter G.

2002-01-01

Micro aerial vehicles have been the subject of continued interest and development over the last several years. The majority of current vehicle concepts rely on rigid fixed wings or rotors. An alternate design based on an aeroelastic membrane wing has also been developed that exhibits desired characteristics in flight test demonstrations, competition, and in prior aerodynamics studies. This paper presents a simulation model and an assessment of flight control characteristics of the vehicle. Linear state space models of the vehicle associated with typical trimmed level flight conditions and which are suitable for control system design are presented as well. The simulation is used as the basis for the design of a measurement based nonlinear dynamic inversion control system and outer loop guidance system. The vehicle/controller system is the subject of ongoing investigations of autonomous and collaborative control schemes. The results indicate that the design represents a good basis for further development of the micro aerial vehicle for autonomous and collaborative controls research.

Apparatus for stopping a vehicle

DOEpatents

Wattenburg, Willard H [Walnut Creek, CA; McCallen, David B [Livermore, CA

2007-03-20

An apparatus for externally controlling one or more brakes on a vehicle having a pressurized fluid braking system. The apparatus can include a pressurizable vessel that is adapted for fluid-tight coupling to the braking system. Impact to the rear of the vehicle by a pursuit vehicle, shooting a target mounted on the vehicle or sending a signal from a remote control can all result in the fluid pressures in the braking system of the vehicle being modified so that the vehicle is stopped and rendered temporarily inoperable. A control device can also be provided in the driver's compartment of the vehicle for similarly rendering the vehicle inoperable. A driver or hijacker of the vehicle preferably cannot overcome the stopping action from the driver's compartment.

Feasibility of advanced vehicle control systems for transit buses

DOT National Transportation Integrated Search

1997-01-01

In the course of developing automated vehicle-roadway systems, opportunities to deploy vehicle control systems at intermediate stages of development may emerge. Some of these systems may provide a significant efficiency or safety enhancement to exist...

The Vehicle Control Systems Branch at the Marshall Space Flight Center

NASA Technical Reports Server (NTRS)

Barret, Chris

1990-01-01

This paper outlines the responsibility of the Vehicle Control Systems Branch at the Marshall Space Flight Center (MSFC) to analyze, evaluate, define, design, verify, and specify requirements for advanced launch vehicles and related space projects, and to conduct research in advanced flight control concepts. Attention is given to branch responsibilities which include Shuttle-C, Shuttle-C Block II, Shuttle-Z, lunar cargo launch vehicles, Mars cargo launch vehicles, orbital maneuvering vehicle, automatic docking, tethered satellite, aeroassisted flight experiment, and solid rocket booster parachute recovery system design.

Vision-Based Leader Vehicle Trajectory Tracking for Multiple Agricultural Vehicles

PubMed Central

Zhang, Linhuan; Ahamed, Tofael; Zhang, Yan; Gao, Pengbo; Takigawa, Tomohiro

2016-01-01

The aim of this study was to design a navigation system composed of a human-controlled leader vehicle and a follower vehicle. The follower vehicle automatically tracks the leader vehicle. With such a system, a human driver can control two vehicles efficiently in agricultural operations. The tracking system was developed for the leader and the follower vehicle, and control of the follower was performed using a camera vision system. A stable and accurate monocular vision-based sensing system was designed, consisting of a camera and rectangular markers. Noise in the data acquisition was reduced by using the least-squares method. A feedback control algorithm was used to allow the follower vehicle to track the trajectory of the leader vehicle. A proportional–integral–derivative (PID) controller was introduced to maintain the required distance between the leader and the follower vehicle. Field experiments were conducted to evaluate the sensing and tracking performances of the leader-follower system while the leader vehicle was driven at an average speed of 0.3 m/s. In the case of linear trajectory tracking, the RMS errors were 6.5 cm, 8.9 cm and 16.4 cm for straight, turning and zigzag paths, respectively. Again, for parallel trajectory tracking, the root mean square (RMS) errors were found to be 7.1 cm, 14.6 cm and 14.0 cm for straight, turning and zigzag paths, respectively. The navigation performances indicated that the autonomous follower vehicle was able to follow the leader vehicle, and the tracking accuracy was found to be satisfactory. Therefore, the developed leader-follower system can be implemented for the harvesting of grains, using a combine as the leader and an unloader as the autonomous follower vehicle. PMID:27110793

Vision-Based Leader Vehicle Trajectory Tracking for Multiple Agricultural Vehicles.

PubMed

Zhang, Linhuan; Ahamed, Tofael; Zhang, Yan; Gao, Pengbo; Takigawa, Tomohiro

2016-04-22

The aim of this study was to design a navigation system composed of a human-controlled leader vehicle and a follower vehicle. The follower vehicle automatically tracks the leader vehicle. With such a system, a human driver can control two vehicles efficiently in agricultural operations. The tracking system was developed for the leader and the follower vehicle, and control of the follower was performed using a camera vision system. A stable and accurate monocular vision-based sensing system was designed, consisting of a camera and rectangular markers. Noise in the data acquisition was reduced by using the least-squares method. A feedback control algorithm was used to allow the follower vehicle to track the trajectory of the leader vehicle. A proportional-integral-derivative (PID) controller was introduced to maintain the required distance between the leader and the follower vehicle. Field experiments were conducted to evaluate the sensing and tracking performances of the leader-follower system while the leader vehicle was driven at an average speed of 0.3 m/s. In the case of linear trajectory tracking, the RMS errors were 6.5 cm, 8.9 cm and 16.4 cm for straight, turning and zigzag paths, respectively. Again, for parallel trajectory tracking, the root mean square (RMS) errors were found to be 7.1 cm, 14.6 cm and 14.0 cm for straight, turning and zigzag paths, respectively. The navigation performances indicated that the autonomous follower vehicle was able to follow the leader vehicle, and the tracking accuracy was found to be satisfactory. Therefore, the developed leader-follower system can be implemented for the harvesting of grains, using a combine as the leader and an unloader as the autonomous follower vehicle.

Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration

NASA Technical Reports Server (NTRS)

Gisser, D. G.; Frederick, D. K.; Lashmet, P. K.; Sandor, G. N.; Shen, C. N.; Yerazunis, S. Y.

1975-01-01

Problems related to an unmanned exploration of the planet Mars by means of an autonomous roving planetary vehicle are investigated. These problems include: design, construction and evaluation of the vehicle itself and its control and operating systems. More specifically, vehicle configuration, dynamics, control, propulsion, hazard detection systems, terrain sensing and modelling, obstacle detection concepts, path selection, decision-making systems, and chemical analyses of samples are studied. Emphasis is placed on development of a vehicle capable of gathering specimens and data for an Augmented Viking Mission or to provide the basis for a Sample Return Mission.

77 FR 34129 - Heavy-Duty Highway Program: Revisions for Emergency Vehicles

Federal Register 2010, 2011, 2012, 2013, 2014

2012-06-08

... diesel vehicles, including emergency vehicles. Some control system designs and implementation strategies... broad engine families and vehicle test groups that are defined by similar emissions and performance... public safety issue related to design of engines and emission control systems on emergency vehicles that...

The design method and research status of vehicle detection system based on geomagnetic detection principle

NASA Astrophysics Data System (ADS)

Lin, Y. H.; Bai, R.; Qian, Z. H.

2018-03-01

Vehicle detection systems are applied to obtain real-time information of vehicles, realize traffic control and reduce traffic pressure. This paper reviews geomagnetic sensors as well as the research status of the vehicle detection system. Presented in the paper are also our work on the vehicle detection system, including detection algorithms and experimental results. It is found that the GMR based vehicle detection system has a detection accuracy up to 98% with a high potential for application in the road traffic control area.

40 CFR 86.428-80 - Maintenance, scheduled; test vehicles.

Code of Federal Regulations, 2013 CFR

2013-07-01

... 40 Protection of Environment 19 2013-07-01 2013-07-01 false Maintenance, scheduled; test vehicles... PROGRAMS (CONTINUED) CONTROL OF EMISSIONS FROM NEW AND IN-USE HIGHWAY VEHICLES AND ENGINES Emission... vehicles. (a) Periodic maintenance on the engine, emission control system, and fuel system of test vehicles...

Dynamics and Control of Non-Smooth Systems with Applications to Supercavitating Vehicles

DTIC Science & Technology

2011-01-01

ABSTRACT Title of dissertation: Dynamics and Control of Non-Smooth Systems with Applications to Supercavitating Vehicles Vincent Nguyen, Doctor of...relates to the dynamics of non-smooth vehicle systems, and in particular, supercavitating vehicles. These high-speed under- water vehicles are...Applications to Supercavitating Vehicles 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) 5d. PROJECT NUMBER 5e. TASK

Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration

NASA Technical Reports Server (NTRS)

1974-01-01

A number of problems related to the design, construction and evaluation of an autonomous roving planetary vehicle and its control and operating systems intended for an unmanned exploration of Mars are studied. Vehicle configuration, dynamics, control, systems and propulsion; systems analysis; terrain sensing and modeling and path selection; and chemical analysis of samples are included.

The Role of Guidance, Navigation, and Control in Hypersonic Vehicle Multidisciplinary Design and Optimization

NASA Technical Reports Server (NTRS)

Ouzts, Peter J.; Soloway, Donald I.; Moerder, Daniel D.; Wolpert, David H.; Benavides, Jose Victor

2009-01-01

Airbreathing hypersonic systems offer distinct performance advantages over rocket-based systems for space access vehicles. However, these performance advantages are dependent upon advances in current state-of-the-art technologies in many areas such as ram/scramjet propulsion integration, high temperature materials, aero-elastic structures, thermal protection systems, transition to hypersonics and hypersonic control elements within the framework of complex physics and new design methods. The complex interactions between elements of an airbreathing hypersonic vehicle represent a new paradigm in vehicle design to achieve the optimal performance necessary to meet space access mission objectives. In the past, guidance, navigation, and control (GNC) analysis often follows completion of the vehicle conceptual design process. Individual component groups design subsystems which are then integrated into a vehicle configuration. GNC is presented the task of developing control approaches to meet vehicle performance objectives given that configuration. This approach may be sufficient for vehicles where significant performance margins exist. However, for higher performance vehicles engaging the GNC discipline too late in the design cycle has been costly. For example, the X-29 experimental flight vehicle was built as a technology demonstrator. One of the many technologies to be demonstrated was the use of light-weight material composites for structural components. The use of light-weight materials increased the flexibility of the X- 29 beyond that of conventional metal alloy constructed aircraft. This effect was not considered when the vehicle control system was designed and built. The impact of this is that the control system did not have enough control authority to compensate for the effects of the first fundamental structural mode of the vehicle. As a result, the resulting pitch rate response of the vehicle was below specification and no post-design changes could recover the desired capability.

Automated mixed traffic vehicle control and scheduling study

NASA Technical Reports Server (NTRS)

Peng, T. K. C.; Chon, K.

1976-01-01

The operation and the expected performance of a proposed automatic guideway transit system which uses low speed automated mixed traffic vehicles (AMTVs) were analyzed. Vehicle scheduling and headway control policies were evaluated with a transit system simulation model. The effect of mixed traffic interference on the average vehicle speed was examined with a vehicle pedestrian interface model. Control parameters regulating vehicle speed were evaluated for safe stopping and passenger comfort. Some preliminary data on the cost and operation of an experimental AMTV system are included. These data were the result of a separate task conducted at JPL, and were included as background information.

Performance of an Automated-Mixed-Traffic-Vehicle /AMTV/ System. [urban people mover

NASA Technical Reports Server (NTRS)

Peng, T. K. C.; Chon, K.

1978-01-01

This study analyzes the operation and evaluates the expected performance of a proposed automatic guideway transit system which uses low-speed Automated Mixed Traffic Vehicles (AMTV's). Vehicle scheduling and headway control policies are evaluated with a transit system simulation model. The effect of mixed-traffic interference on the average vehicle speed is examined with a vehicle-pedestrian interface model. Control parameters regulating vehicle speed are evaluated for safe stopping and passenger comfort.

77 FR 30765 - Federal Motor Vehicle Safety Standards; Electronic Stability Control Systems for Heavy Vehicles

Federal Register 2010, 2011, 2012, 2013, 2014

2012-05-23

... truck tractors and large buses are designed to reduce untripped rollovers and mitigate severe understeer... vehicles. A roll stability control (RSC) system is designed to prevent rollover by decelerating the vehicle... vehicle operation, as well as factors related to roadway design and road surface properties, can cause...

Automotive fuel economy and emissions program

NASA Technical Reports Server (NTRS)

Dowdy, M. W.; Baisley, R. L.

1978-01-01

Experimental data were generated to support an assessment of the relationship between automobile fuel economy and emissions control systems. Tests were made at both the engine and vehicle levels. Detailed investigations were made on cold-start emissions devices, exhaust gas recirculation systems, and air injection reactor systems. Based on the results of engine tests, an alternative emission control system and modified control strategy were implemented and tested in the vehicle. With the same fuel economy and NOx emissions as the stock vehicle, the modified vehicle reduced HC and CO emissions by about 20 percent. By removing the NOx emissions constraint, the modified vehicle demonstrated about 12 percent better fuel economy than the stock vehicle.

A Saturation Balancing Control Method for Enhancing Dynamic Vehicle Stability (PREPRINT)

DTIC Science & Technology

2011-03-01

force estimation; axle saturation level; independent drive; torque biasing; 1. Introduction Vehicle stability control ( VSC ) systems have widely been...shown to reduce accidents by minimizing driver’s loss of control during aggressive emergency maneuvers. VSC systems manipulate one or more of the... VSC (also referred to as vehicle dynamics control (VDC)) systems available on the market today are brake-based systems which extend the functionality

Decoupling control of steering and driving system for in-wheel-motor-drive electric vehicle

NASA Astrophysics Data System (ADS)

Zhang, Han; Zhao, Wanzhong

2018-02-01

To improve the maneuverability and stability of in-wheel-motor-drive electric vehicle, a control strategy based on nonlinear decoupling control method is proposed in this paper, realizing the coordinated control of the steering and driving system. At first, the nonlinear models of the in-wheel-motor-drive electric vehicle and its sub-system are constructed. Then the inverse system decoupling theory is applied to decompose the nonlinear system into several independent subsystems, which makes it possible to realize the coordinated control of each subsystem. Next, the μ-Synthesis theory is applied to eliminate the influence of model uncertainty, improving the stability, robustness and tracking performance of in-wheel-motor-drive electric vehicle. Simulation and experiment results and numerical analyses, based on the electric vehicle actuated by in-wheel-motors, prove that the proposed control method is effective to accomplish the decoupling control of the steering and driving system in both simulation and real practice.

Sensing, Control, and System Integration for Autonomous Vehicles: A Series of Challenges

NASA Astrophysics Data System (ADS)

Özgüner, Ümit; Redmill, Keith

One of the important examples of mechatronic systems can be found in autonomous ground vehicles. Autonomous ground vehicles provide a series of challenges in sensing, control and system integration. In this paper we consider off-road autonomous vehicles, automated highway systems and urban autonomous driving and indicate the unifying aspects. We specifically consider our own experience during the last twelve years in various demonstrations and challenges in attempting to identify unifying themes. Such unifying themes can be observed in basic hierarchies, hybrid system control approaches and sensor fusion techniques.

Model Identification and Control System Design for the Lambda Unmanned Research Vehicle

DTIC Science & Technology

1991-09-01

AD-A241 859 D T IC_ _ _ _ _ __ OCT 21921MODEL IDENTIFICATION AND CONTROL SYSTEM DESIGN FOR THE LAMBDA UNMANNED RESEARCH VEHICLE: THESIS Gerald A...23 191K MODEL IDENTIFICATION AND CONTROL SYSTEM DESIGN FOR THE LAMBDA UNMANNED RESEARCH VEHICLE THESIS Gerald A. Swift, First Lieutenant, USAF AFIT...UNMANNED RESEARCH VEHICLE THESIS Presented to the Faculty of the School of Engineering of the Air Force Institute of Technology Air University in Partial

Hypersonic Vehicle Propulsion System Control Model Development Roadmap and Activities

NASA Technical Reports Server (NTRS)

Stueber, Thomas J.; Le, Dzu K.; Vrnak, Daniel R.

2009-01-01

The NASA Fundamental Aeronautics Program Hypersonic project is directed towards fundamental research for two classes of hypersonic vehicles: highly reliable reusable launch systems (HRRLS) and high-mass Mars entry systems (HMMES). The objective of the hypersonic guidance, navigation, and control (GN&C) discipline team is to develop advanced guidance and control algorithms to enable efficient and effective operation of these challenging vehicles. The ongoing work at the NASA Glenn Research Center supports the hypersonic GN&C effort in developing tools to aid the design of advanced control algorithms that specifically address the propulsion system of the HRRLSclass vehicles. These tools are being developed in conjunction with complementary research and development activities in hypersonic propulsion at Glenn and elsewhere. This report is focused on obtaining control-relevant dynamic models of an HRRLS-type hypersonic vehicle propulsion system.

Simulation and analysis of vertical displacement characteristics of three wheels reverse trike vehicle with PID controller application

NASA Astrophysics Data System (ADS)

Wibowo, Lambang, Lullus; Erick Chandra, N.; Muhayat, Nurul; Jaka S., B.

2017-08-01

The purpose of this research is to obtain a mathematical model (Full Vehicle Model) and compare the performance of passive and active suspension systems of a Three-Wheels Reverse Trike vehicle. Vehicle suspension system should able to provide good steering handling and passenger comfort. Vehicle suspension system generally only uses passive suspension components with fix spring and damper coefficients. An active suspension developed from the traditional (passive) suspension design can directly control the actuator force in the suspension system. In this paper, modeling and simulation of passive and active suspension system for a Full Vehicle Model is performed using Simulink-MATLAB software. Ziegler & Nichols tuning method is used to obtain controller parameters of Proportional Integral Derivative (PID) controller. Comparison between passive and active suspension with PID controller is conducted for disturbances input of single bump road surface profile 0.1 meters. The results are the displacement and acceleration of the vehicle body in the vertical direction of active suspension system with PID control is better in providing handling capabilities and comfort for the driver than of passive suspension system. The acceleration of 1,8G with the down time of 2.5 seconds is smaller than the acceleration of 2.5G with down time of 5.5 seconds.

40 CFR 86.429-78 - Maintenance, unscheduled; test vehicles.

Code of Federal Regulations, 2013 CFR

2013-07-01

... vehicles. 86.429-78 Section 86.429-78 Protection of Environment ENVIRONMENTAL PROTECTION AGENCY (CONTINUED) AIR PROGRAMS (CONTINUED) CONTROL OF EMISSIONS FROM NEW AND IN-USE HIGHWAY VEHICLES AND ENGINES..., unscheduled; test vehicles. (a) Any unscheduled engine, emission control system, or fuel system adjustment...

Brake blending strategy for a hybrid vehicle

DOEpatents

Boberg, Evan S.

2000-12-05

A hybrid electric powertrain system is provided including a transmission for driving a pair of wheels of a vehicle and a heat engine and an electric motor/generator coupled to the transmission. A friction brake system is provided for applying a braking torque to said vehicle. A controller unit generates control signals to the electric motor/generator and the friction brake system for controllably braking the vehicle in response to a drivers brake command. The controller unit determines and amount of regenerative torque available and compares this value to a determined amount of brake torque requested for determining the control signals to the electric motor/generator and the friction brake system.

Automotive Control Systems: For Engine, Driveline, and Vehicle

NASA Astrophysics Data System (ADS)

Kiencke, Uwe; Nielsen, Lars

Advances in automotive control systems continue to enhance safety and comfort and to reduce fuel consumption and emissions. Reflecting the trend to optimization through integrative approaches for engine, driveline, and vehicle control, this valuable book enables control engineers to understand engine and vehicle models necessary for controller design, and also introduces mechanical engineers to vehicle-specific signal processing and automatic control. The emphasis on measurement, comparisons between performance and modeling, and realistic examples derive from the authors' unique industrial experience

Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration

NASA Technical Reports Server (NTRS)

Frederick, D. K.; Lashmet, P. K.; Moyer, W. R.; Sandor, G. N.; Shen, C. N.; Smith, E. J.; Yerazunis, S. W.

1973-01-01

The following tasks related to the design, construction, and evaluation of a mobile planetary vehicle for unmanned exploration of Mars are discussed: (1) design and construction of a 0.5 scale dynamic vehicle; (2) mathematical modeling of vehicle dynamics; (3) experimental 0.4 scale vehicle dynamics measurements and interpretation; (4) vehicle electro-mechanical control systems; (5) remote control systems; (6) collapsibility and deployment concepts and hardware; (7) design, construction and evaluation of a wheel with increased lateral stiffness, (8) system design optimization; (9) design of an on-board computer; (10) design and construction of a laser range finder; (11) measurement of reflectivity of terrain surfaces; (12) obstacle perception by edge detection; (13) terrain modeling based on gradients; (14) laser scan systems; (15) path selection system simulation and evaluation; (16) gas chromatograph system concepts; (17) experimental chromatograph separation measurements and chromatograph model improvement and evaluation.

Intelligent vehicle control: Opportunities for terrestrial-space system integration

NASA Technical Reports Server (NTRS)

Shoemaker, Charles

1994-01-01

For 11 years the Department of Defense has cooperated with a diverse array of other Federal agencies including the National Institute of Standards and Technology, the Jet Propulsion Laboratory, and the Department of Energy, to develop robotics technology for unmanned ground systems. These activities have addressed control system architectures supporting sharing of tasks between the system operator and various automated subsystems, man-machine interfaces to intelligent vehicles systems, video compression supporting vehicle driving in low data rate digital communication environments, multiple simultaneous vehicle control by a single operator, path planning and retrace, and automated obstacle detection and avoidance subsystem. Performance metrics and test facilities for robotic vehicles were developed permitting objective performance assessment of a variety of operator-automated vehicle control regimes. Progress in these areas will be described in the context of robotic vehicle testbeds specifically developed for automated vehicle research. These initiatives, particularly as regards the data compression, task sharing, and automated mobility topics, also have relevance in the space environment. The intersection of technology development interests between these two communities will be discussed in this paper.

Vehicle health management for guidance, navigation and control systems

NASA Technical Reports Server (NTRS)

Radke, Kathleen; Frazzini, Ron; Bursch, Paul; Wald, Jerry; Brown, Don

1993-01-01

The objective of the program was to architect a vehicle health management (VHM) system for space systems avionics that assures system readiness for launch vehicles and for space-based dormant vehicles. The platforms which were studied and considered for application of VHM for guidance, navigation and control (GN&C) included the Advanced Manned Launch System (AMLS), the Horizontal Landing-20/Personnel Launch System (HL-20/PLS), the Assured Crew Return Vehicle (ACRV) and the Extended Duration Orbiter (EDO). This set was selected because dormancy and/or availability requirements are driving the designs of these future systems.

High voltage bus and auxiliary heater control system for an electric or hybrid vehicle

DOEpatents

Murty, Balarama Vempaty

2000-01-01

A control system for an electric or hybrid electric vehicle includes a vehicle system controller and a control circuit having an electric immersion heater. The heater is electrically connected to the vehicle's high voltage bus and is thermally coupled to a coolant loop containing a heater core for the vehicle's climate control system. The system controller responds to cabin heat requests from the climate control system by generating a pulse width modulated signal that is used by the control circuit to operate the heater at a duty cycle appropriate for the amount of cabin heating requested. The control system also uses the heater to dissipate excess energy produced by an auxiliary power unit and to provide electric braking when regenerative braking is not desirable and manual braking is not necessary. The control system further utilizes the heater to provide a safe discharge of a bank of energy storage capacitors following disconnection of the battery or one of the high voltage connectors used to transmit high voltage operating power to the various vehicle systems. The control circuit includes a high voltage clamping circuit that monitors the voltage on the bus and operates the heater to clamp down the bus voltage when it exceeds a pre-selected maximum voltage. The control system can also be used to phase in operation of the heater when the bus voltage exceeds a lower threshold voltage and can be used to phase out the auxiliary power unit charging and regenerative braking when the battery becomes fully charged.

Handling performance control for hybrid 8-wheel-drive vehicle and simulation verification

NASA Astrophysics Data System (ADS)

Ni, Jun; Hu, Jibin

2016-08-01

In order to improve handling performance of a hybrid 8-Wheel-Drive vehicle, the handling performance control strategy was proposed. For armoured vehicle, besides handling stability in high speed, the minimum steer radius in low speed is also a key tactical and technical index. Based on that, the proposed handling performance control strategy includes 'Handling Stability' and 'Radius Minimization' control modes. In 'Handling Stability' control mode, 'Neutralsteer Radio' is defined to adjust the steering characteristics to satisfy different demand in different speed range. In 'Radius Minimization' control mode, the independent motors are controlled to provide an additional yaw moment to decrease the minimum steer radius. In order to verify the strategy, a simulation platform was built including engine and continuously variable transmission systems, generator and battery systems, independent motors and controllers systems, vehicle dynamic and tyre mechanical systems. The simulation results show that the handling performance of the vehicle can be enhanced significantly, and the minimum steer radius can be decreased by 20% which is significant improvement compared to the common level of main battle armoured vehicle around the world.

Advanced emergency braking controller design for pedestrian protection oriented automotive collision avoidance system.

PubMed

Lie, Guo; Zejian, Ren; Pingshu, Ge; Jing, Chang

2014-01-01

Automotive collision avoidance system, which aims to enhance the active safety of the vehicle, has become a hot research topic in recent years. However, most of the current systems ignore the active protection of pedestrian and other vulnerable groups in the transportation system. An advanced emergency braking control system is studied by taking into account the pedestrians and the vehicles. Three typical braking scenarios are defined and the safety situations are assessed by comparing the current distance between the host vehicle and the obstacle with the critical braking distance. To reflect the nonlinear time-varying characteristics and control effect of the longitudinal dynamics, the vehicle longitudinal dynamics model is established in CarSim. Then the braking controller with the structure of upper and lower layers is designed based on sliding mode control and the single neuron PID control when confronting deceleration or emergency braking conditions. Cosimulations utilizing CarSim and Simulink are finally carried out on a CarSim intelligent vehicle model to explore the effectiveness of the proposed controller. Results display that the designed controller has a good response in preventing colliding with the front vehicle or pedestrian.

Advanced Emergency Braking Controller Design for Pedestrian Protection Oriented Automotive Collision Avoidance System

PubMed Central

Lie, Guo; Zejian, Ren; Pingshu, Ge; Jing, Chang

2014-01-01

Automotive collision avoidance system, which aims to enhance the active safety of the vehicle, has become a hot research topic in recent years. However, most of the current systems ignore the active protection of pedestrian and other vulnerable groups in the transportation system. An advanced emergency braking control system is studied by taking into account the pedestrians and the vehicles. Three typical braking scenarios are defined and the safety situations are assessed by comparing the current distance between the host vehicle and the obstacle with the critical braking distance. To reflect the nonlinear time-varying characteristics and control effect of the longitudinal dynamics, the vehicle longitudinal dynamics model is established in CarSim. Then the braking controller with the structure of upper and lower layers is designed based on sliding mode control and the single neuron PID control when confronting deceleration or emergency braking conditions. Cosimulations utilizing CarSim and Simulink are finally carried out on a CarSim intelligent vehicle model to explore the effectiveness of the proposed controller. Results display that the designed controller has a good response in preventing colliding with the front vehicle or pedestrian. PMID:25097870

Progress on advanced dc and ac induction drives for electric vehicles

NASA Technical Reports Server (NTRS)

Schwartz, H. J.

1982-01-01

Progress is reported in the development of complete electric vehicle propulsion systems, and the results of tests on the Road Load Simulator of two such systems representative of advanced dc and ac drive technology are presented. One is the system used in the DOE's ETV-1 integrated test vehicle which consists of a shunt wound dc traction motor under microprocessor control using a transistorized controller. The motor drives the vehicle through a fixed ratio transmission. The second system uses an ac induction motor controlled by transistorized pulse width modulated inverter which drives through a two speed automatically shifted transmission. The inverter and transmission both operate under the control of a microprocessor. The characteristics of these systems are also compared with the propulsion system technology available in vehicles being manufactured at the inception of the DOE program and with an advanced, highly integrated propulsion system upon which technology development was recently initiated.

40 CFR 1037.615 - Hybrid vehicles and other advanced technologies.

Code of Federal Regulations, 2013 CFR

2013-07-01

... and the equivalent non-hybrid systems as described in § 1037.550. Test the vehicles as specified in...) AIR POLLUTION CONTROLS CONTROL OF EMISSIONS FROM NEW HEAVY-DUTY MOTOR VEHICLES Special Compliance... include regenerative braking (or the equivalent) and energy storage systems, fuel cell vehicles, and...

Robust Road Condition Detection System Using In-Vehicle Standard Sensors.

PubMed

Castillo Aguilar, Juan Jesús; Cabrera Carrillo, Juan Antonio; Guerra Fernández, Antonio Jesús; Carabias Acosta, Enrique

2015-12-19

The appearance of active safety systems, such as Anti-lock Braking System, Traction Control System, Stability Control System, etc., represents a major evolution in road safety. In the automotive sector, the term vehicle active safety systems refers to those whose goal is to help avoid a crash or to reduce the risk of having an accident. These systems safeguard us, being in continuous evolution and incorporating new capabilities continuously. In order for these systems and vehicles to work adequately, they need to know some fundamental information: the road condition on which the vehicle is circulating. This early road detection is intended to allow vehicle control systems to act faster and more suitably, thus obtaining a substantial advantage. In this work, we try to detect the road condition the vehicle is being driven on, using the standard sensors installed in commercial vehicles. Vehicle models were programmed in on-board systems to perform real-time estimations of the forces of contact between the wheel and road and the speed of the vehicle. Subsequently, a fuzzy logic block is used to obtain an index representing the road condition. Finally, an artificial neural network was used to provide the optimal slip for each surface. Simulations and experiments verified the proposed method.

Robust Road Condition Detection System Using In-Vehicle Standard Sensors

PubMed Central

Castillo Aguilar, Juan Jesús; Cabrera Carrillo, Juan Antonio; Guerra Fernández, Antonio Jesús; Carabias Acosta, Enrique

2015-01-01

The appearance of active safety systems, such as Anti-lock Braking System, Traction Control System, Stability Control System, etc., represents a major evolution in road safety. In the automotive sector, the term vehicle active safety systems refers to those whose goal is to help avoid a crash or to reduce the risk of having an accident. These systems safeguard us, being in continuous evolution and incorporating new capabilities continuously. In order for these systems and vehicles to work adequately, they need to know some fundamental information: the road condition on which the vehicle is circulating. This early road detection is intended to allow vehicle control systems to act faster and more suitably, thus obtaining a substantial advantage. In this work, we try to detect the road condition the vehicle is being driven on, using the standard sensors installed in commercial vehicles. Vehicle models were programmed in on-board systems to perform real-time estimations of the forces of contact between the wheel and road and the speed of the vehicle. Subsequently, a fuzzy logic block is used to obtain an index representing the road condition. Finally, an artificial neural network was used to provide the optimal slip for each surface. Simulations and experiments verified the proposed method. PMID:26703605

Ground standoff mine detection system (GSTAMIDS) engineering, manufacturing, and development (EMD) Block 0

NASA Astrophysics Data System (ADS)

Pressley, Jackson R.; Pabst, Donald; Sower, Gary D.; Nee, Larry; Green, Brian; Howard, Peter

2001-10-01

The United States Army has contracted EG&G Technical Services to build the GSTAMIDS EMD Block 0. This system autonomously detects and marks buried anti-tank land mines from an unmanned vehicle. It consists of a remotely operated host vehicle, standard teleoperation system (STS) control, mine detection system (MDS) and a control vehicle. Two complete systems are being fabricated, along with a third MDS. The host vehicle for Block 0 is the South African Meerkat that has overpass capability for anti-tank mines, as well as armor anti-mine blast protection and ballistic protection. It is operated via the STS radio link from within the control vehicle. The Main Computer System (MCS), located in the control vehicle, receives sensor data from the MDS via a high speed radio link, processes and fuses the data to make a decision of a mine detection, and sends the information back to the host vehicle for a mark to be placed on the mine location. The MCS also has the capability to interface into the FBCB2 system via SINGARS radio. The GSTAMIDS operator station and the control vehicle communications system also connect to the MCS. The MDS sensors are mounted on the host vehicle and include Ground Penetrating Radar (GPR), Pulsed Magnetic Induction (PMI) metal detector, and (as an option) long-wave infrared (LWIR). A distributed processing architecture is used so that pre-processing is performed on data at the sensor level before transmission to the MCS, minimizing required throughput. Nine (9) channels each of GPR and PMI are mounted underneath the meerkat to provide a three-meter detection swath. Two IR cameras are mounted on the upper sides of the Meerkat, providing a field of view of the required swath with overlap underneath the vehicle. Also included on the host vehicle are an Internal Navigation System (INS), Global Positioning System (GPS), and radio communications for remote control and data transmission. The GSTAMIDS Block 0 is designed as a modular, expandable system with sufficient bandwidth and processing capability for incorporation of additional sensor systems in future Blocks. It is also designed to operate in adverse weather conditions and to be transportable around the world.

Integration Environmental Control System Functionality into a Scheme of Thermal Management System Evaluation Metrics for Military Vehicles

DTIC Science & Technology

2011-08-09

Environmental control systems are becoming an integral part of a vehicle thermal management system. This is particularly true for under - armor applications...in an under - armor vehicle to provide a zoned approach to cooling and packaging considerations and condensation effects may dictate the best

Method and system for determining the torque required to launch a vehicle having a hybrid drive-train

DOEpatents

Hughes, Douglas A.

2006-04-04

A method and system are provided for determining the torque required to launch a vehicle having a hybrid drive-train that includes at least two independently operable prime movers. The method includes the steps of determining the value of at least one control parameter indicative of a vehicle operating condition, determining the torque required to launch the vehicle from the at least one determined control parameter, comparing the torque available from the prime movers to the torque required to launch the vehicle, and controlling operation of the prime movers to launch the vehicle in response to the comparing step. The system of the present invention includes a control unit configured to perform the steps of the method outlined above.

Ground Vehicle Convoying

NASA Astrophysics Data System (ADS)

Gage, Douglas W.; Pletta, J. Bryan

1987-01-01

Initial investigations into two different approaches for applying autonomous ground vehicle technology to the vehicle convoying application are described. A minimal capability system that would maintain desired speed and vehicle spacing while a human driver provided steering control could improve convoy performance and provide positive control at night and in inclement weather, but would not reduce driver manpower requirements. Such a system could be implemented in a modular and relatively low cost manner. A more capable system would eliminate the human driver in following vehicles and reduce manpower requirements for the transportation of supplies. This technology could also be used to aid in the deployment of teleoperated vehicles in a battlefield environment. The needs, requirements, and several proposed solutions for such an Attachable Robotic Convoy Capability (ARCC) system will be discussed. Included are discussions of sensors, communications, computers, control systems and safety issues. This advanced robotic convoy system will provide a much greater capability, but will be more difficult and expensive to implement.

Fractional Control of An Active Four-wheel-steering Vehicle

NASA Astrophysics Data System (ADS)

Wang, Tianting; Tong, Jun; Chen, Ning; Tian, Jie

2018-03-01

A four-wheel-steering (4WS) vehicle model and reference model with a drop filter are constructed. The decoupling of 4WS vehicle model is carried out. And a fractional PIλDμ controller is introduced into the decoupling strategy to reduce the effects of the uncertainty of the vehicle parameters as well as the unmodelled dynamics on the system performance. Based on optimization techniques, the design of fractional controller are obtained to ensure the robustness of 4WS vehicle during the special range of frequencies through proper choice of the constraints. In order to compare with fractional robust controller, an optimal controller for the same vehicle is also designed. The simulations of the two control systems are carried out and it reveals that the decoupling and fractional robust controller is able to make vehicle model trace the reference model very well with better robustness.

Progress in the development of shallow-water mapping systems

USGS Publications Warehouse

Bergeron, E.; Worley, C.R.; O'Brien, T.

2007-01-01

The USGS (US Geological Survey) Coastal and Marine Geology has deployed an advance autonomous shallow-draft robotic vehicle, Iris, for shallow-water mapping in Apalachicola Bay, Florida. The vehicle incorporates a side scan sonar system, seismic-reflection profiler, single-beam echosounder, and global positioning system (GPS) navigation. It is equipped with an onboard microprocessor-based motor controller, delivering signals for speed and steering to hull-mounted brushless direct-current thrusters. An onboard motion sensor in the Sea Robotics vehicle control system enclosure has been integrated in the vehicle to measure the vehicle heave, pitch, roll, and heading. Three water-tight enclosures are mounted along the vehicle axis for the Edgetech computer and electronics system including the Sea Robotics computer, a control and wireless communications system, and a Thales ZXW real-time kinematic (RTK) GPS receiver. The vehicle has resulted in producing high-quality seismic reflection and side scan sonar data, which will help in developing the baseline oyster habitat maps.

Emergency vehicle traffic signal preemption system

NASA Technical Reports Server (NTRS)

Foster, Conrad F. (Inventor); Bachelder, Aaron D. (Inventor)

2005-01-01

An emergency vehicle traffic light preemption system for preemption of traffic lights at an intersection to allow safe passage of emergency vehicles. The system includes a real-time status monitor of an intersection which is relayed to a communications controller for transmission to emergency vehicles as well as to a central dispatch office. The system also provides for audio warnings at an intersection to protect pedestrians who may not be in a position to see visual warnings or for various reasons cannot hear the approach of emergency vehicles. A transponder mounted on an emergency vehicle provides autonomous control so the vehicle operator can attend to getting to an emergency and not be concerned with the operation of the system. Activation of a Code 3 situation provides communications with each intersection being approached by an emergency vehicle and indicates whether the intersection is preempted or if there is any conflict with other approaching emergency vehicles. On-board diagnostics handle various information including heading, speed, and acceleration sent to a communications controller which is transmitted to an intersection and which also simultaneously receives information regarding the status of an intersection.

Traffic-Light-Preemption Vehicle-Transponder Software Module

NASA Technical Reports Server (NTRS)

Bachelder, Aaron; Foster, Conrad

2005-01-01

A prototype wireless data-communication and control system automatically modifies the switching of traffic lights to give priority to emergency vehicles. The system, which was reported in several NASA Tech Briefs articles at earlier stages of development, includes a transponder on each emergency vehicle, a monitoring and control unit (an intersection controller) at each intersection equipped with traffic lights, and a central monitoring subsystem. An essential component of the system is a software module executed by a microcontroller in each transponder. This module integrates and broadcasts data on the position, velocity, acceleration, and emergency status of the vehicle. The position, velocity, and acceleration data are derived partly from the Global Positioning System, partly from deductive reckoning, and partly from a diagnostic computer aboard the vehicle. The software module also monitors similar broadcasts from other vehicles and from intersection controllers, informs the driver of which intersections it controls, and generates visible and audible alerts to inform the driver of any other emergency vehicles that are close enough to create a potential hazard. The execution of the software module can be monitored remotely and the module can be upgraded remotely and, hence, automatically

Development of A New Automotive Active Suspension System

NASA Astrophysics Data System (ADS)

Yousef Abdulhammed, Eng.; Eng. Hisham Elsherif, Dr, Prof.

2017-12-01

The main objective was to develop a smart new vehicle suspension system that minimizes the road irregularities impact on the driver, also to increase performance and stability of the vehicle at high speeds. The central idea is based on modifying the normal passive suspension system into a computer controller hydraulic actuated active suspension system simply by adding a new component such as a hydraulic cylinder on a normal passive system. The new suspension system is economical to be wildly used in consumer’s cars with low prices. The new added components was analytically tested and modeled according to different parameters. A new test rig was implemented to simulate a real quarter suspension system. The new suspension model was controlled by feedback controller according to the road conditions; the controller output controls the cylinder actuator to compensate the road oscillations and increases the vehicle stability for the passenger. Finally, to maximize the aerodynamics coefficients of the vehicle during high speeds by controlling the vehicle clearance level from the ground to achieve full stability, steering and fuel economy.

Displacement and force coupling control design for automotive active front steering system

NASA Astrophysics Data System (ADS)

Zhao, Wanzhong; Zhang, Han; Li, Yijun

2018-06-01

A displacement and force coupling control design for active front steering (AFS) system of vehicle is proposed in this paper. In order to investigate the displacement and force characteristics of the AFS system of the vehicle, the models of AFS system, vehicle, tire as well as the driver model are introduced. Then, considering the nonlinear characteristics of the tire force and external disturbance, a robust yaw rate control method is designed by applying a steering motor to generate an active steering angle to adjust the yaw stability of the vehicle. Based on mixed H2/H∞ control, the system robustness and yaw rate tracking performance are enforced by H∞ norm constraint and the control effort is captured through H2 norm. In addition, based on the AFS system, a planetary gear set and an assist motor are both added to realize the road feeling control in this paper to dismiss the influence of extra steering angle through a compensating method. Evaluation of the overall system is accomplished by simulations and experiments under various driving condition. The simulation and experiment results show the proposed control system has excellent tracking performance and road feeling performance, which can improve the cornering stability and maneuverability of vehicle.

Multiple-degree-of-freedom vehicle

DOEpatents

Borenstein, Johann

1995-01-01

A multi-degree-of-freedom vehicle employs a compliant linkage to accommodate the need for a variation in the distance between drive wheels or drive systems which are independently steerable and drivable. The subject vehicle is provided with rotary encodes to provide signals representative of the orientation of the steering pivot associated with each such drive wheel or system, and a linear encoder which issues a signal representative of the fluctuations in the distance between the drive elements. The wheels of the vehicle are steered and driven in response to the linear encoder signal, there being provided a controller system for minimizing the fluctuations in the distance. The controller system is a software implementation of a plurality of controllers, operating at the chassis level and at the vehicle level. A trajectory interpolator receives x-displacement, y-displacement, and .theta.-displacement signals and produces to the vehicle level controller trajectory signals corresponding to interpolated control signals. The x-displacement, y-displacement, and .theta.-displacement signals are received from a human operator, via a manipulable joy stick.

Two designs for an orbital transfer vehicle

NASA Technical Reports Server (NTRS)

Davis, Richard; Duquette, Miles; Fredrick, Rebecca; Schumacher, Daniel; Somers, Schaeffer; Stafira, Stanley; Williams, James; Zelinka, Mark

1988-01-01

The Orbital Transfer Vehicle (OTV) and systems were researched in the following areas: avionics, crew systems, electrical power systems, environmental control/life support systems, navigation and orbital maneuvers, propulsion systems, reaction control systems (RCS), servicing systems, and structures.

Motion-mode energy method for vehicle dynamics analysis and control

NASA Astrophysics Data System (ADS)

Zhang, Nong; Wang, Lifu; Du, Haiping

2014-01-01

Vehicle motion and vibration control is a fundamental motivation for the development of advanced vehicle suspension systems. In a vehicle-fixed coordinate system, the relative motions of the vehicle between body and wheel can be classified into several dynamic stages based on energy intensity, and can be decomposed into sets of uncoupled motion-modes according to modal parameters. Vehicle motions are coupled, but motion-modes are orthogonal. By detecting and controlling the predominating vehicle motion-mode, the system cost and energy consumption of active suspensions could be reduced. A motion-mode energy method (MEM) is presented in this paper to quantify the energy contribution of each motion-mode to vehicle dynamics in real time. The control of motion-modes is prioritised according to the level of motion-mode energy. Simulation results on a 10 degree-of-freedom nonlinear full-car model with the magic-formula tyre model illustrate the effectiveness of the proposed MEM. The contribution of each motion-mode to the vehicle's dynamic behaviour is analysed under different excitation inputs from road irregularities, directional manoeuvres and braking. With the identified dominant motion-mode, novel cost-effective suspension systems, such as active reconfigurable hydraulically interconnected suspension, can possibly be used to control full-car motions with reduced energy consumption. Finally, discussion, conclusions and suggestions for future work are provided.

X-33 Attitude Control System Design for Ascent, Transition, and Entry Flight Regimes

NASA Technical Reports Server (NTRS)

Hall, Charles E.; Gallaher, Michael W.; Hendrix, Neal D.

1998-01-01

The Vehicle Control Systems Team at Marshall Space Flight Center, Systems Dynamics Laboratory, Guidance and Control Systems Division is designing under a cooperative agreement with Lockheed Martin Skunkworks, the Ascent, Transition, and Entry flight attitude control system for the X-33 experimental vehicle. Ascent flight control begins at liftoff and ends at linear aerospike main engine cutoff (NECO) while Transition and Entry flight control begins at MECO and concludes at the terminal area energy management (TAEM) interface. TAEM occurs at approximately Mach 3.0. This task includes not only the design of the vehicle attitude control systems but also the development of requirements for attitude control system components and subsystems. The X-33 attitude control system design is challenged by a short design cycle, the design environment (Mach 0 to about Mach 15), and the X-33 incremental test philosophy. The X-33 design-to-launch cycle of less than 3 years requires a concurrent design approach while the test philosophy requires design adaptation to vehicle variations that are a function of Mach number and mission profile. The flight attitude control system must deal with the mixing of aerosurfaces, reaction control thrusters, and linear aerospike engine control effectors and handle parasitic effects such as vehicle flexibility and propellant sloshing from the uniquely shaped propellant tanks. The attitude control system design is, as usual, closely linked to many other subsystems and must deal with constraints and requirements from these subsystems.

Run-Off-Road Collision Avoidance Countermeasures Using IVHS Countermeasures, Task 3, Volume 1, Final Report

DOT National Transportation Integrated Search

1995-08-01

KEYWORDS : RESEARCH AND DEVELOPMENT OR R&D, CRASH REDUCTION, FATALITIES REDUCTION, LATERAL GUIDANCE, LONGITUDINAL GUIDANCE, ADVANCED VEHICLE CONTROL & SAFETY SYSTEMS OR AVCSS, ADVANCED VEHICLE CONTROL SYSTEM OR AVCS, INTELLIGENT VEHICLE INITIATIV...

A Flight Control Approach for Small Reentry Vehicles

NASA Technical Reports Server (NTRS)

Bevacqoa, Tim; Adams, Tony; Zhu. J. Jim; Rao, P. Prabhakara

2004-01-01

Flight control of small crew return vehicles during atmospheric reentry will be an important technology in any human space flight mission undertaken in the future. The control system presented in this paper is applicable to small crew return vehicles in which reaction control system (RCS) thrusters are the only actuators available for attitude control. The control system consists of two modules: (i) the attitude controller using the trajectory linearization control (TLC) technique, and (ii) the reaction control system (RCS) control allocation module using a dynamic table-lookup technique. This paper describes the design and implementation of the TLC attitude control and the dynamic table-lookup RCS control allocation for nonimal flight along with design verification test results.

A hybrid approach to modeling and control of vehicle height for electronically controlled air suspension

NASA Astrophysics Data System (ADS)

Sun, Xiaoqiang; Cai, Yingfeng; Wang, Shaohua; Liu, Yanling; Chen, Long

2016-01-01

The control problems associated with vehicle height adjustment of electronically controlled air suspension (ECAS) still pose theoretical challenges for researchers, which manifest themselves in the publications on this subject over the last years. This paper deals with modeling and control of a vehicle height adjustment system for ECAS, which is an example of a hybrid dynamical system due to the coexistence and coupling of continuous variables and discrete events. A mixed logical dynamical (MLD) modeling approach is chosen for capturing enough details of the vehicle height adjustment process. The hybrid dynamic model is constructed on the basis of some assumptions and piecewise linear approximation for components nonlinearities. Then, the on-off statuses of solenoid valves and the piecewise approximation process are described by propositional logic, and the hybrid system is transformed into the set of linear mixed-integer equalities and inequalities, denoted as MLD model, automatically by HYSDEL. Using this model, a hybrid model predictive controller (HMPC) is tuned based on online mixed-integer quadratic optimization (MIQP). Two different scenarios are considered in the simulation, whose results verify the height adjustment effectiveness of the proposed approach. Explicit solutions of the controller are computed to control the vehicle height adjustment system in realtime using an offline multi-parametric programming technology (MPT), thus convert the controller into an equivalent explicit piecewise affine form. Finally, bench experiments for vehicle height lifting, holding and lowering procedures are conducted, which demonstrate that the HMPC can adjust the vehicle height by controlling the on-off statuses of solenoid valves directly. This research proposes a new modeling and control method for vehicle height adjustment of ECAS, which leads to a closed-loop system with favorable dynamical properties.

Development of a remote digital augmentation system and application to a remotely piloted research vehicle

NASA Technical Reports Server (NTRS)

Edwards, J. W.; Deets, D. A.

1975-01-01

A cost-effective approach to flight testing advanced control concepts with remotely piloted vehicles is described. The approach utilizes a ground based digital computer coupled to the remotely piloted vehicle's motion sensors and control surface actuators through telemetry links to provide high bandwidth feedback control. The system was applied to the control of an unmanned 3/8-scale model of the F-15 airplane. The model was remotely augmented; that is, the F-15 mechanical and control augmentation flight control systems were simulated by the ground-based computer, rather than being in the vehicle itself. The results of flight tests of the model at high angles of attack are discussed.

Inter-Vehicle Communication System Utilizing Autonomous Distributed Transmit Power Control

NASA Astrophysics Data System (ADS)

Hamada, Yuji; Sawa, Yoshitsugu; Goto, Yukio; Kumazawa, Hiroyuki

In ad-hoc network such as inter-vehicle communication (IVC) system, safety applications that vehicles broadcast the information such as car velocity, position and so on periodically are considered. In these applications, if there are many vehicles broadcast data in a communication area, congestion incurs a problem decreasing communication reliability. We propose autonomous distributed transmit power control method to keep high communication reliability. In this method, each vehicle controls its transmit power using feed back control. Furthermore, we design a communication protocol to realize the proposed method, and we evaluate the effectiveness of proposed method using computer simulation.

Enhancing vehicle cornering limit through sideslip and yaw rate control

NASA Astrophysics Data System (ADS)

Lu, Qian; Gentile, Pierangelo; Tota, Antonio; Sorniotti, Aldo; Gruber, Patrick; Costamagna, Fabio; De Smet, Jasper

2016-06-01

Fully electric vehicles with individually controlled drivetrains can provide a high degree of drivability and vehicle safety, all while increasing the cornering limit and the 'fun-to-drive' aspect. This paper investigates a new approach on how sideslip control can be integrated into a continuously active yaw rate controller to extend the limit of stable vehicle cornering and to allow sustained high values of sideslip angle. The controllability-related limitations of integrated yaw rate and sideslip control, together with its potential benefits, are discussed through the tools of multi-variable feedback control theory and non-linear phase-plane analysis. Two examples of integrated yaw rate and sideslip control systems are presented and their effectiveness is experimentally evaluated and demonstrated on a four-wheel-drive fully electric vehicle prototype. Results show that the integrated control system allows safe operation at the vehicle cornering limit at a specified sideslip angle independent of the tire-road friction conditions.

Control-Relevant Modeling, Analysis, and Design for Scramjet-Powered Hypersonic Vehicles

NASA Technical Reports Server (NTRS)

Rodriguez, Armando A.; Dickeson, Jeffrey J.; Sridharan, Srikanth; Benavides, Jose; Soloway, Don; Kelkar, Atul; Vogel, Jerald M.

2009-01-01

Within this paper, control-relevant vehicle design concepts are examined using a widely used 3 DOF (plus flexibility) nonlinear model for the longitudinal dynamics of a generic carrot-shaped scramjet powered hypersonic vehicle. Trade studies associated with vehicle/engine parameters are examined. The impact of parameters on control-relevant static properties (e.g. level-flight trimmable region, trim controls, AOA, thrust margin) and dynamic properties (e.g. instability and right half plane zero associated with flight path angle) are examined. Specific parameters considered include: inlet height, diffuser area ratio, lower forebody compression ramp inclination angle, engine location, center of gravity, and mass. Vehicle optimizations is also examined. Both static and dynamic considerations are addressed. The gap-metric optimized vehicle is obtained to illustrate how this control-centric concept can be used to "reduce" scheduling requirements for the final control system. A classic inner-outer loop control architecture and methodology is used to shed light on how specific vehicle/engine design parameter selections impact control system design. In short, the work represents an important first step toward revealing fundamental tradeoffs and systematically treating control-relevant vehicle design.

Control of a high beta maneuvering reentry vehicle using dynamic inversion.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Watts, Alfred Chapman

2005-05-01

The design of flight control systems for high performance maneuvering reentry vehicles presents a significant challenge to the control systems designer. These vehicles typically have a much higher ballistic coefficient than crewed vehicles like as the Space Shuttle or proposed crew return vehicles such as the X-38. Moreover, the missions of high performance vehicles usually require a steeper reentry flight path angle, followed by a pull-out into level flight. These vehicles then must transit the entire atmosphere and robustly perform the maneuvers required for the mission. The vehicles must also be flown with small static margins in order to performmore » the required maneuvers, which can result in highly nonlinear aerodynamic characteristics that frequently transition from being aerodynamically stable to unstable as angle of attack increases. The control system design technique of dynamic inversion has been applied successfully to both high performance aircraft and low beta reentry vehicles. The objective of this study was to explore the application of this technique to high performance maneuvering reentry vehicles, including the basic derivation of the dynamic inversion technique, followed by the extension of that technique to the use of tabular trim aerodynamic models in the controller. The dynamic inversion equations are developed for high performance vehicles and augmented to allow the selection of a desired response for the control system. A six degree of freedom simulation is used to evaluate the performance of the dynamic inversion approach, and results for both nominal and off nominal aerodynamic characteristics are presented.« less

Using the centre of percussion to design a steering controller for an autonomous race car

NASA Astrophysics Data System (ADS)

Kritayakirana, Krisada; Gerdes, J. Christian

2012-01-01

Understanding how a race car driver controls a vehicle at its friction limits can provide insights into the development of vehicle safety systems. In this paper, a race car driver's behaviour inspires the design of an autonomous racing controller. The resulting controller uses the vehicle's centre of percussion (COP) to design feedforward and feedback steering. At the COP, the effects of rotation and translation from the rear tire force cancel each other out; consequently, the feedforward steering command is robust to the disturbances from the rear tire force. Using the COP also simplifies the equations of motion, as the vehicle's lateral motion is decoupled from the vehicle's yaw motion and highlights the challenge of controlling a vehicle when the rear tires are highly saturated. The resulting dynamics can be controlled with a linear state feedback based on a lane-keeping system with additional yaw damping. Utilising Lyapunov theory, the closed-loop system is shown to remain stable even when the rear tires are highly saturated. The experimental results demonstrate that an autonomous vehicle can operate at its limits while maintaining a minimal lateral error.

Design and analysis of an intelligent controller for active geometry suspension systems

NASA Astrophysics Data System (ADS)

Goodarzi, Avesta; Oloomi, Ehsan; Esmailzadeh, Ebrahim

2011-02-01

An active geometry suspension (AGS) system is a device to optimise suspension-related factors such as toe angle and roll centre height by controlling vehicle's suspension geometry. The suspension geometry could be changed through control of suspension mounting point's position. In this paper, analysis and control of an AGS system is addressed. First, the effects of suspension geometry change on roll centre height and toe angle are studied. Then, based on an analytical approach, the improvement of the vehicle's stability and handling due to the control of suspension geometry is investigated. In the next section, an eight-degree-of-freedom handling model of a sport utility vehicle equipped with an AGS system is introduced. Finally, a self-tuning proportional-integral controller has been designed, using the fuzzy control theory, to control the actuator that changes the geometry of the suspension system. The simulation results show that an AGS system can improve the handling and stability of the vehicle.

Integrated Chassis Control of Active Front Steering and Yaw Stability Control Based on Improved Inverse Nyquist Array Method

PubMed Central

2014-01-01

An integrated chassis control (ICC) system with active front steering (AFS) and yaw stability control (YSC) is introduced in this paper. The proposed ICC algorithm uses the improved Inverse Nyquist Array (INA) method based on a 2-degree-of-freedom (DOF) planar vehicle reference model to decouple the plant dynamics under different frequency bands, and the change of velocity and cornering stiffness were considered to calculate the analytical solution in the precompensator design so that the INA based algorithm runs well and fast on the nonlinear vehicle system. The stability of the system is guaranteed by dynamic compensator together with a proposed PI feedback controller. After the response analysis of the system on frequency domain and time domain, simulations under step steering maneuver were carried out using a 2-DOF vehicle model and a 14-DOF vehicle model by Matlab/Simulink. The results show that the system is decoupled and the vehicle handling and stability performance are significantly improved by the proposed method. PMID:24782676

Integrated chassis control of active front steering and yaw stability control based on improved inverse nyquist array method.

PubMed

Zhu, Bing; Chen, Yizhou; Zhao, Jian

2014-01-01

An integrated chassis control (ICC) system with active front steering (AFS) and yaw stability control (YSC) is introduced in this paper. The proposed ICC algorithm uses the improved Inverse Nyquist Array (INA) method based on a 2-degree-of-freedom (DOF) planar vehicle reference model to decouple the plant dynamics under different frequency bands, and the change of velocity and cornering stiffness were considered to calculate the analytical solution in the precompensator design so that the INA based algorithm runs well and fast on the nonlinear vehicle system. The stability of the system is guaranteed by dynamic compensator together with a proposed PI feedback controller. After the response analysis of the system on frequency domain and time domain, simulations under step steering maneuver were carried out using a 2-DOF vehicle model and a 14-DOF vehicle model by Matlab/Simulink. The results show that the system is decoupled and the vehicle handling and stability performance are significantly improved by the proposed method.

A nonlinear strategy for sensor based vehicle path control

NASA Technical Reports Server (NTRS)

Mayr, R.

1994-01-01

A method of transverse control which makes use of nonlinear formulations is presented. The strategy is utilized to stabilize a vehicle. The vehicle is autonomously guided and takes its control inputs from an optical sensing system. Additionally, the velocity of the vehicle is dictated by a longitudinal controller, which is also discussed.

Defence R&D Canada's autonomous intelligent systems program

NASA Astrophysics Data System (ADS)

Digney, Bruce L.; Hubbard, Paul; Gagnon, Eric; Lauzon, Marc; Rabbath, Camille; Beckman, Blake; Collier, Jack A.; Penzes, Steven G.; Broten, Gregory S.; Monckton, Simon P.; Trentini, Michael; Kim, Bumsoo; Farell, Philip; Hopkin, Dave

2004-09-01

The Defence Research and Development Canada's (DRDC has been given strategic direction to pursue research to increase the independence and effectiveness of military vehicles and systems. This has led to the creation of the Autonomous Intelligent Systems (AIS) prgram and is notionally divide into air, land and marine vehicle systems as well as command, control and decision support systems. This paper presents an overarching description of AIS research issues, challenges and directions as well as a nominal path that vehicle intelligence will take. The AIS program requires a very close coordination between research and implementation on real vehicles. This paper briefly discusses the symbiotic relationship between intelligence algorithms and implementation mechanisms. Also presented are representative work from two vehicle specific research program programs. Work from the Autonomous Air Systems program discusses the development of effective cooperate control for multiple air vehicle. The Autonomous Land Systems program discusses its developments in platform and ground vehicle intelligence.

Traffic jam driving with NMV avoidance

NASA Astrophysics Data System (ADS)

Milanés, Vicente; Alonso, Luciano; Villagrá, Jorge; Godoy, Jorge; de Pedro, Teresa; Oria, Juan P.

2012-08-01

In recent years, the development of advanced driver assistance systems (ADAS) - mainly based on lidar and cameras - has considerably improved the safety of driving in urban environments. These systems provide warning signals for the driver in the case that any unexpected traffic circumstance is detected. The next step is to develop systems capable not only of warning the driver but also of taking over control of the car to avoid a potential collision. In the present communication, a system capable of autonomously avoiding collisions in traffic jam situations is presented. First, a perception system was developed for urban situations—in which not only vehicles have to be considered, but also pedestrians and other non-motor-vehicles (NMV). It comprises a differential global positioning system (DGPS) and wireless communication for vehicle detection, and an ultrasound sensor for NMV detection. Then, the vehicle's actuators - brake and throttle pedals - were modified to permit autonomous control. Finally, a fuzzy logic controller was implemented capable of analyzing the information provided by the perception system and of sending control commands to the vehicle's actuators so as to avoid accidents. The feasibility of the integrated system was tested by mounting it in a commercial vehicle, with the results being encouraging.

Simulation Research on Vehicle Active Suspension Controller Based on G1 Method

NASA Astrophysics Data System (ADS)

Li, Gen; Li, Hang; Zhang, Shuaiyang; Luo, Qiuhui

2017-09-01

Based on the order relation analysis method (G1 method), the optimal linear controller of vehicle active suspension is designed. The system of the main and passive suspension of the single wheel vehicle is modeled and the system input signal model is determined. Secondly, the system motion state space equation is established by the kinetic knowledge and the optimal linear controller design is completed with the optimal control theory. The weighting coefficient of the performance index coefficients of the main passive suspension is determined by the relational analysis method. Finally, the model is simulated in Simulink. The simulation results show that: the optimal weight value is determined by using the sequence relation analysis method under the condition of given road conditions, and the vehicle acceleration, suspension stroke and tire motion displacement are optimized to improve the comprehensive performance of the vehicle, and the active control is controlled within the requirements.

Geometry Modeling and Adaptive Control of Air-Breathing Hypersonic Vehicles

NASA Astrophysics Data System (ADS)

Vick, Tyler Joseph

Air-breathing hypersonic vehicles have the potential to provide global reach and affordable access to space. Recent technological advancements have made scramjet-powered flight achievable, as evidenced by the successes of the X-43A and X-51A flight test programs over the last decade. Air-breathing hypersonic vehicles present unique modeling and control challenges in large part due to the fact that scramjet propulsion systems are highly integrated into the airframe, resulting in strongly coupled and often unstable dynamics. Additionally, the extreme flight conditions and inability to test fully integrated vehicle systems larger than X-51 before flight leads to inherent uncertainty in hypersonic flight. This thesis presents a means to design vehicle geometries, simulate vehicle dynamics, and develop and analyze control systems for hypersonic vehicles. First, a software tool for generating three-dimensional watertight vehicle surface meshes from simple design parameters is developed. These surface meshes are compatible with existing vehicle analysis tools, with which databases of aerodynamic and propulsive forces and moments can be constructed. A six-degree-of-freedom nonlinear dynamics simulation model which incorporates this data is presented. Inner-loop longitudinal and lateral control systems are designed and analyzed utilizing the simulation model. The first is an output feedback proportional-integral linear controller designed using linear quadratic regulator techniques. The second is a model reference adaptive controller (MRAC) which augments this baseline linear controller with an adaptive element. The performance and robustness of each controller are analyzed through simulated time responses to angle-of-attack and bank angle commands, while various uncertainties are introduced. The MRAC architecture enables the controller to adapt in a nonlinear fashion to deviations from the desired response, allowing for improved tracking performance, stability, and robustness.

Intelligent vehicle electrical power supply system with central coordinated protection

NASA Astrophysics Data System (ADS)

Yang, Diange; Kong, Weiwei; Li, Bing; Lian, Xiaomin

2016-07-01

The current research of vehicle electrical power supply system mainly focuses on electric vehicles (EV) and hybrid electric vehicles (HEV). The vehicle electrical power supply system used in traditional fuel vehicles is rather simple and imperfect; electrical/electronic devices (EEDs) applied in vehicles are usually directly connected with the vehicle's battery. With increasing numbers of EEDs being applied in traditional fuel vehicles, vehicle electrical power supply systems should be optimized and improved so that they can work more safely and more effectively. In this paper, a new vehicle electrical power supply system for traditional fuel vehicles, which accounts for all electrical/electronic devices and complex work conditions, is proposed based on a smart electrical/electronic device (SEED) system. Working as an independent intelligent electrical power supply network, the proposed system is isolated from the electrical control module and communication network, and access to the vehicle system is made through a bus interface. This results in a clean controller power supply with no electromagnetic interference. A new practical battery state of charge (SoC) estimation method is also proposed to achieve more accurate SoC estimation for lead-acid batteries in traditional fuel vehicles so that the intelligent power system can monitor the status of the battery for an over-current state in each power channel. Optimized protection methods are also used to ensure power supply safety. Experiments and tests on a traditional fuel vehicle are performed, and the results reveal that the battery SoC is calculated quickly and sufficiently accurately for battery over-discharge protection. Over-current protection is achieved, and the entire vehicle's power utilization is optimized. For traditional fuel vehicles, the proposed vehicle electrical power supply system is comprehensive and has a unified system architecture, enhancing system reliability and security.

Intelligent vehicle safety control strategy in various driving situations

NASA Astrophysics Data System (ADS)

Moon, Seungwuk; Cho, Wanki; Yi, Kyongsu

2010-12-01

This paper describes a safety control strategy for intelligent vehicles with the objective of optimally coordinating the throttle, brake, and active front steering actuator inputs to obtain both lateral stability and longitudinal safety. The control system consists of a supervisor, control algorithms, and a coordinator. From the measurement and estimation signals, the supervisor determines the active control modes among normal driving, longitudinal safety, lateral stability, and integrated safety control mode. The control algorithms consist of longitudinal and lateral stability controllers. The longitudinal controller is designed to improve the driver's comfort during normal, safe-driving situations, and to avoid rear-end collision in vehicle-following situations. The lateral stability controller is designed to obtain the required manoeuvrability and to limit the vehicle body's side-slip angle. To obtain both longitudinal safety and lateral stability control in various driving situations, the coordinator optimally determines the throttle, brake, and active front steering inputs based on the current status of the subject vehicle. Closed-loop simulations with the driver-vehicle-controller system are conducted to investigate the performance of the proposed control strategy. From these simulation results, it is shown that the proposed control algorithm assists the driver in combined severe braking/large steering manoeuvring so that the driver can maintain good manoeuvrability and prevent the vehicle from crashing in vehicle-following situations.

75 FR 15620 - Federal Motor Vehicle Safety Standards; Air Brake Systems

Federal Register 2010, 2011, 2012, 2013, 2014

2010-03-30

... fully develop improved brake systems and also to ensure vehicle control and stability while braking... [Docket No. NHTSA 2009-0175] RIN 2127-AK62 Federal Motor Vehicle Safety Standards; Air Brake Systems... Federal motor vehicle safety standard for air brake systems by requiring substantial improvements in...

Emergency vehicle traffic signal preemption system

NASA Technical Reports Server (NTRS)

Bachelder, Aaron D. (Inventor); Foster, Conrad F. (Inventor)

2011-01-01

An emergency vehicle traffic light preemption system for preemption of traffic lights at an intersection to allow safe passage of emergency vehicles. The system includes a real-time status monitor of an intersection which is relayed to a control module for transmission to emergency vehicles as well as to a central dispatch office. The system also provides for audio warnings at an intersection to protect pedestrians who may not be in a position to see visual warnings or for various reasons cannot hear the approach of emergency vehicles. A transponder mounted on an emergency vehicle provides autonomous control so the vehicle operator can attend to getting to an emergency and not be concerned with the operation of the system. Activation of a priority-code (i.e. Code-3) situation provides communications with each intersection being approached by an emergency vehicle and indicates whether the intersection is preempted or if there is any conflict with other approaching emergency vehicles. On-board diagnostics handle various information including heading, speed, and acceleration sent to a control module which is transmitted to an intersection and which also simultaneously receives information regarding the status of an intersection. Real-time communications and operations software allow central and remote monitoring, logging, and command of intersections and vehicles.

77 FR 39206 - Public Hearing on Proposed Rule for Heavy Vehicle Electronic Stability Control Systems

Federal Register 2010, 2011, 2012, 2013, 2014

2012-07-02

... Control Systems AGENCY: National Highway Traffic Safety Administration (NHTSA), Department of...) systems on truck tractors and large buses. NHTSA is announcing a public hearing to provide an opportunity... No. 136, Electronic Stability Control Systems for Heavy Vehicles (77 FR 30766). The standard would...

Multi-Objective Sliding Mode Control on Vehicle Cornering Stability with Variable Gear Ratio Actuator-Based Active Front Steering Systems.

PubMed

Ma, Xinbo; Wong, Pak Kin; Zhao, Jing; Xie, Zhengchao

2016-12-28

Active front steering (AFS) is an emerging technology to improve the vehicle cornering stability by introducing an additional small steering angle to the driver's input. This paper proposes an AFS system with a variable gear ratio steering (VGRS) actuator which is controlled by using the sliding mode control (SMC) strategy to improve the cornering stability of vehicles. In the design of an AFS system, different sensors are considered to measure the vehicle state, and the mechanism of the AFS system is also modelled in detail. Moreover, in order to improve the cornering stability of vehicles, two dependent objectives, namely sideslip angle and yaw rate, are considered together in the design of SMC strategy. By evaluating the cornering performance, Sine with Dwell and accident avoidance tests are conducted, and the simulation results indicate that the proposed SMC strategy is capable of improving the cornering stability of vehicles in practice.

Vehicle handling and stability control by the cooperative control of 4WS and DYC

NASA Astrophysics Data System (ADS)

Shen, Huan; Tan, Yun-Sheng

2017-07-01

This paper proposes an integrated control system that cooperates with the four-wheel steering (4WS) and direct yaw moment control (DYC) to improve the vehicle handling and stability. The design works of the four-wheel steering and DYC control are based on sliding mode control. The integration control system produces the suitable 4WS angle and corrective yaw moment so that the vehicle tracks the desired yaw rate and sideslip angle. Considering the change of the vehicle longitudinal velocity that means the comfort of driving conditions, both the driving torque and braking torque are used to generate the corrective yaw moment. Simulation results show the effectiveness of the proposed control algorithm.

40 CFR 1051.340 - When may EPA revoke my certificate under this subpart and how may I sell these vehicles again?

Code of Federal Regulations, 2010 CFR

2010-07-01

... change the vehicle's design or emission-control system. (b) To sell vehicles from an engine family with a... Environment ENVIRONMENTAL PROTECTION AGENCY (CONTINUED) AIR POLLUTION CONTROLS CONTROL OF EMISSIONS FROM RECREATIONAL ENGINES AND VEHICLES Testing Production-Line Vehicles and Engines § 1051.340 When may EPA revoke...

Hypersonic vehicle model and control law development using H(infinity) and micron synthesis

NASA Astrophysics Data System (ADS)

Gregory, Irene M.; Chowdhry, Rajiv S.; McMinn, John D.; Shaughnessy, John D.

1994-10-01

The control system design for a Single Stage To Orbit (SSTO) air breathing vehicle will be central to a successful mission because a precise ascent trajectory will preserve narrow payload margins. The air breathing propulsion system requires the vehicle to fly roughly halfway around the Earth through atmospheric turbulence. The turbulence, the high sensitivity of the propulsion system to inlet flow conditions, the relatively large uncertainty of the parameters characterizing the vehicle, and continuous acceleration make the problem especially challenging. Adequate stability margins must be provided without sacrificing payload mass since payload margins are critical. Therefore, a multivariable control theory capable of explicitly including both uncertainty and performance is needed. The H(infinity) controller in general provides good robustness but can result in conservative solutions for practical problems involving structured uncertainty. Structured singular value mu framework for analysis and synthesis is potentially much less conservative and hence more appropriate for problems with tight margins. An SSTO control system requires: highly accurate tracking of velocity and altitude commands while limiting angle-of-attack oscillations, minimized control power usage, and a stabilized vehicle when atmospheric turbulence and system uncertainty are present. The controller designs using H(infinity) and mu-synthesis procedures were compared. An integrated flight/propulsion dynamic mathematical model of a conical accelerator vehicle was linearized as the vehicle accelerated through Mach 8. Vehicle acceleration through the selected flight condition gives rise to parametric variation that was modeled as a structured uncertainty. The mu-analysis approach was used in the frequency domain to conduct controller analysis and was confirmed by time history plots. Results demonstrate the inherent advantages of the mu framework for this class of problems.

Hypersonic vehicle model and control law development using H(infinity) and micron synthesis

NASA Technical Reports Server (NTRS)

Gregory, Irene M.; Chowdhry, Rajiv S.; Mcminn, John D.; Shaughnessy, John D.

1994-01-01

The control system design for a Single Stage To Orbit (SSTO) air breathing vehicle will be central to a successful mission because a precise ascent trajectory will preserve narrow payload margins. The air breathing propulsion system requires the vehicle to fly roughly halfway around the Earth through atmospheric turbulence. The turbulence, the high sensitivity of the propulsion system to inlet flow conditions, the relatively large uncertainty of the parameters characterizing the vehicle, and continuous acceleration make the problem especially challenging. Adequate stability margins must be provided without sacrificing payload mass since payload margins are critical. Therefore, a multivariable control theory capable of explicitly including both uncertainty and performance is needed. The H(infinity) controller in general provides good robustness but can result in conservative solutions for practical problems involving structured uncertainty. Structured singular value mu framework for analysis and synthesis is potentially much less conservative and hence more appropriate for problems with tight margins. An SSTO control system requires: highly accurate tracking of velocity and altitude commands while limiting angle-of-attack oscillations, minimized control power usage, and a stabilized vehicle when atmospheric turbulence and system uncertainty are present. The controller designs using H(infinity) and mu-synthesis procedures were compared. An integrated flight/propulsion dynamic mathematical model of a conical accelerator vehicle was linearized as the vehicle accelerated through Mach 8. Vehicle acceleration through the selected flight condition gives rise to parametric variation that was modeled as a structured uncertainty. The mu-analysis approach was used in the frequency domain to conduct controller analysis and was confirmed by time history plots. Results demonstrate the inherent advantages of the mu framework for this class of problems.

Stability and optimised H∞ control of tripped and untripped vehicle rollover

NASA Astrophysics Data System (ADS)

Jin, Zhilin; Zhang, Lei; Zhang, Jiale; Khajepour, Amir

2016-10-01

Vehicle rollover is a serious traffic accident. In order to accurately evaluate the possibility of untripped and some special tripped vehicle rollovers, and to prevent vehicle rollover under unpredictable variations of parameters and harsh driving conditions, a new rollover index and an anti-roll control strategy are proposed in this paper. Taking deflections of steering and suspension induced by the roll at the axles into consideration, a six degrees of freedom dynamic model is established, including lateral, yaw, roll, and vertical motions of sprung and unsprung masses. From the vehicle dynamics theory, a new rollover index is developed to predict vehicle rollover risk under both untripped and special tripped situations. This new rollover index is validated by Carsim simulations. In addition, an H-infinity controller with electro hydraulic brake system is optimised by genetic algorithm to improve the anti-rollover performance of the vehicle. The stability and robustness of the active rollover prevention control system are analysed by some numerical simulations. The results show that the control system can improve the critical speed of vehicle rollover obviously, and has a good robustness for variations in the number of passengers and longitude position of the centre of gravity.

Semi-active sliding mode control of vehicle suspension with magneto-rheological damper

NASA Astrophysics Data System (ADS)

Zhang, Hailong; Wang, Enrong; Zhang, Ning; Min, Fuhong; Subash, Rakheja; Su, Chunyi

2015-01-01

The vehicle semi-active suspension with magneto-rheological damper(MRD) has been a hot topic since this decade, in which the robust control synthesis considering load variation is a challenging task. In this paper, a new semi-active controller based upon the inverse model and sliding mode control (SMC) strategies is proposed for the quarter-vehicle suspension with the magneto-rheological (MR) damper, wherein an ideal skyhook suspension is employed as the control reference model and the vehicle sprung mass is considered as an uncertain parameter. According to the asymptotical stability of SMC, the dynamic errors between the plant and reference systems are used to derive the control damping force acquired by the MR quarter-vehicle suspension system. The proposed modified Bouc-wen hysteretic force-velocity ( F- v) model and its inverse model of MR damper, as well as the proposed continuous modulation (CM) filtering algorithm without phase shift are employed to convert the control damping force into the direct drive current of the MR damper. Moreover, the proposed semi-active sliding mode controller (SSMC)-based MR quarter-vehicle suspension is systematically evaluated through comparing the time and frequency domain responses of the sprung and unsprung mass displacement accelerations, suspension travel and the tire dynamic force with those of the passive quarter-vehicle suspension, under three kinds of varied amplitude harmonic, rounded pulse and real-road measured random excitations. The evaluation results illustrate that the proposed SSMC can greatly suppress the vehicle suspension vibration due to uncertainty of the load, and thus improve the ride comfort and handling safety. The study establishes a solid theoretical foundation as the universal control scheme for the adaptive semi-active control of the MR full-vehicle suspension decoupled into four MR quarter-vehicle sub-suspension systems.

X33 Reusable Launch Vehicle Control on Sliding Modes: Concepts for a Control System Development

NASA Technical Reports Server (NTRS)

Shtessel, Yuri B.

1998-01-01

Control of the X33 reusable launch vehicle is considered. The launch control problem consists of automatic tracking of the launch trajectory which is assumed to be optimally precalculated. It requires development of a reliable, robust control algorithm that can automatically adjust to some changes in mission specifications (mass of payload, target orbit) and the operating environment (atmospheric perturbations, interconnection perturbations from the other subsystems of the vehicle, thrust deficiencies, failure scenarios). One of the effective control strategies successfully applied in nonlinear systems is the Sliding Mode Control. The main advantage of the Sliding Mode Control is that the system's state response in the sliding surface remains insensitive to certain parameter variations, nonlinearities and disturbances. Employing the time scaling concept, a new two (three)-loop structure of the control system for the X33 launch vehicle was developed. Smoothed sliding mode controllers were designed to robustly enforce the given closed-loop dynamics. Simulations of the 3-DOF model of the X33 launch vehicle with the table-look-up models for Euler angle reference profiles and disturbance torque profiles showed a very accurate, robust tracking performance.

Vehicle States Observer Using Adaptive Tire-Road Friction Estimator

NASA Astrophysics Data System (ADS)

Kwak, Byunghak; Park, Youngjin

Vehicle stability control system is a new idea which can enhance the vehicle stability and handling in the emergency situation. This system requires the information of the yaw rate, sideslip angle and road friction in order to control the traction and braking forces at the individual wheels. This paper proposes an observer for the vehicle stability control system. This observer consisted of the state observer for vehicle motion estimation and the road condition estimator for the identification of the coefficient of the road friction. The state observer uses 2 degrees-of-freedom bicycle model and estimates the system variables based on the Kalman filter. The road condition estimator uses the same vehicle model and identifies the coefficient of the tire-road friction based on the recursive least square method. Both estimators make use of each other information. We show the effectiveness and feasibility of the proposed scheme under various road conditions through computer simulations of a fifteen degree-of-freedom non-linear vehicle model.

ITS Architecture Development Program, Phase I; Summary Report

DOT National Transportation Integrated Search

1994-11-01

IN-VEHICLE EMISSIONS DIAGNOSIS, COMMERCIAL VEHICLES OPERATIONS OR CVO, ADVANCED VEHICLE CONTROL AND SAFETY SYSTEMS OR AVCSS, ADVANCED PUBLIC TRANSPORTATION SYSTEMS OR APTS, INCIDENT MANAGEMENT/INCIDENT DETECTION, COLLISION AVOIDANCE SYSTEM, AUTOMATED...

Design and modeling of new suspension system using direct drive servo-valve system actuated by piezostack actuator

NASA Astrophysics Data System (ADS)

Han, Chulhee; Kim, Wan Ho; Choi, Seung-Bok

2016-04-01

This paper proposes a new type of a direct-drive valve (DDV) suspension system for vehicle controlled by the piezostack actuator associated with displacement amplifier. In order to achieve this goal, a new type of controllable piezostack DDV damper is designed and its performance evaluation of damping force is undertaken. Next, a full vehicle suspension system consisting of sprung mass, spring, tire and the piezostack DDV damper is constructed. After deriving the governing equations of the motion for the proposed the piezostack DDV suspension system, the skyhook controller is implemented for the realization of the full vehicle. Analytical model of the whole suspension system is then derived and performance characteristics are analyzed through numerical simulation. Finally, vibration control responses of the vehicle suspension system such as vertical acceleration are evaluated under both bump and sine road conditions.

Design and Stability of an On-Orbit Attitude Control System Using Reaction Control Thrusters

NASA Technical Reports Server (NTRS)

Hall, Robert A.; Hough, Steven; Orphee, Carolina; Clements, Keith

2016-01-01

Basic principles for the design and stability of a spacecraft on-orbit attitude control system employing on-off Reaction Control System (RCS) thrusters are presented. Both vehicle dynamics and the control system actuators are inherently nonlinear, hence traditional linear control system design approaches are not directly applicable. This paper has two main aspects: It summarizes key RCS design principles from earlier NASA vehicles, notably the Space Shuttle and Space Station programs, and introduces advances in the linear modelling and analyses of a phase plane control system derived in the initial development of the NASA's next upper stage vehicle, the Exploration Upper Stage (EUS). Topics include thruster hardware specifications, phase plane design and stability, jet selection approaches, filter design metrics, and RCS rotational maneuver logic.

An RFID-based intelligent vehicle speed controller using active traffic signals.

PubMed

Pérez, Joshué; Seco, Fernando; Milanés, Vicente; Jiménez, Antonio; Díaz, Julio C; de Pedro, Teresa

2010-01-01

These days, mass-produced vehicles benefit from research on Intelligent Transportation System (ITS). One prime example of ITS is vehicle Cruise Control (CC), which allows it to maintain a pre-defined reference speed, to economize on fuel or energy consumption, to avoid speeding fines, or to focus all of the driver's attention on the steering of the vehicle. However, achieving efficient Cruise Control is not easy in roads or urban streets where sudden changes of the speed limit can happen, due to the presence of unexpected obstacles or maintenance work, causing, in inattentive drivers, traffic accidents. In this communication we present a new Infrastructure to Vehicles (I2V) communication and control system for intelligent speed control, which is based upon Radio Frequency Identification (RFID) technology for identification of traffic signals on the road, and high accuracy vehicle speed measurement with a Hall effect-based sensor. A fuzzy logic controller, based on sensor fusion of the information provided by the I2V infrastructure, allows the efficient adaptation of the speed of the vehicle to the circumstances of the road. The performance of the system is checked empirically, with promising results.

An RFID-Based Intelligent Vehicle Speed Controller Using Active Traffic Signals

PubMed Central

Pérez, Joshué; Seco, Fernando; Milanés, Vicente; Jiménez, Antonio; Díaz, Julio C.; de Pedro, Teresa

2010-01-01

These days, mass-produced vehicles benefit from research on Intelligent Transportation System (ITS). One prime example of ITS is vehicle Cruise Control (CC), which allows it to maintain a pre-defined reference speed, to economize on fuel or energy consumption, to avoid speeding fines, or to focus all of the driver’s attention on the steering of the vehicle. However, achieving efficient Cruise Control is not easy in roads or urban streets where sudden changes of the speed limit can happen, due to the presence of unexpected obstacles or maintenance work, causing, in inattentive drivers, traffic accidents. In this communication we present a new Infrastructure to Vehicles (I2V) communication and control system for intelligent speed control, which is based upon Radio Frequency Identification (RFID) technology for identification of traffic signals on the road, and high accuracy vehicle speed measurement with a Hall effect-based sensor. A fuzzy logic controller, based on sensor fusion of the information provided by the I2V infrastructure, allows the efficient adaptation of the speed of the vehicle to the circumstances of the road. The performance of the system is checked empirically, with promising results. PMID:22219692

The automation of remote vehicle control. [in Mars roving vehicles

NASA Technical Reports Server (NTRS)

Paine, G.

1977-01-01

The automation of remote vehicles is becoming necessary to overcome the requirement of having man present as a controller. By removing man, remote vehicles can be operated in areas where the environment is too hostile for man, his reaction times are too slow, time delays are too long, and where his presence is too costly, or where system performance can be improved. This paper addresses the development of automated remote vehicle control for nonspace and space tasks from warehouse vehicles to proposed Mars rovers. The state-of-the-art and the availability of new technology for implementing automated control are reviewed and the major problem areas are outlined. The control strategies are divided into those where the path is planned in advance or constrained, or where the system is a teleoperator, or where automation or robotics have been introduced.

Connected cruise control: modelling, delay effects, and nonlinear behaviour

NASA Astrophysics Data System (ADS)

Orosz, Gábor

2016-08-01

Connected vehicle systems (CVS) are considered in this paper where vehicles exchange information using wireless vehicle-to-vehicle (V2V) communication. The concept of connected cruise control (CCC) is established that allows control design at the level of individual vehicles while exploiting V2V connectivity. Due to its high level of modularity the proposed design can be applied to large heterogeneous traffic systems. The dynamics of a simple CVS is analysed in detail while taking into account nonlinearities in the vehicle dynamics as well as in the controller. Time delays that arise due to intermittencies and packet drops in the communication channels are also incorporated. The results are summarised using stability charts which allow one to select control gains to maintain stability and ensure disturbance attenuation when the delay is below a critical value.

Practical Methodology for the Inclusion of Nonlinear Slosh Damping in the Stability Analysis of Liquid-Propelled Space Vehicles

NASA Technical Reports Server (NTRS)

Ottander, John A.; Hall, Robert A.; Powers, Joseph F.

2017-01-01

One of the challenges of developing flight control systems for liquid-propelled space vehicles is ensuring stability and performance in the presence of parasitic minimally damped slosh dynamics in the liquid propellants. This can be especially difficult when the fundamental frequencies of the slosh motions are in proximity to the frequency used for vehicle control. The challenge is partially alleviated since the energy dissipation and effective damping in the slosh modes increases with amplitude. However, traditional launch vehicle control design methodology is performed with linearized systems using a fixed slosh damping corresponding to a slosh motion amplitude based on heritage values. This papers presents a method for performing the control design and analysis using damping at slosh amplitudes chosen based on the resulting limit cycle amplitude of the vehicle thrust vector system due to a control-slosh interaction under degraded phase and gain margin conditions.

Practical Methodology for the Inclusion of Nonlinear Slosh Damping in the Stability Analysis of Liquid-propelled Space Vehicles

NASA Technical Reports Server (NTRS)

Ottander, John A.; Hall, Robert A., Jr.; Powers, Joseph F.

2017-01-01

One of the challenges of developing flight control systems for liquid-propelled space vehicles is ensuring stability and performance in the presence of parasitic minimally damped slosh dynamics in the liquid propellants. This can be especially difficult when the fundamental frequencies of the slosh motions are in proximity to the frequency used for vehicle control. The challenge is partially alleviated since the energy dissipation and effective damping in the slosh modes increases with amplitude. However, traditional launch vehicle control design methodology is performed with linearized systems using a fixed slosh damping corresponding to a slosh motion amplitude based on heritage values. This papers presents a method for performing the control design and analysis using damping at slosh amplitudes chosen based on the resulting limit cycle amplitude of the vehicle thrust vector system due to a control-slosh interaction under degraded phase and gain margin conditions.

Control system and method for a hybrid electric vehicle

DOEpatents

Tamor, Michael Alan

2001-03-06

Several control methods are presented for application in a hybrid electric vehicle powertrain including in various embodiments an engine, a motor/generator, a transmission coupled at an input thereof to receive torque from the engine and the motor generator coupled to augment torque provided by the engine, an energy storage device coupled to receive energy from and provide energy to the motor/generator, an engine controller (EEC) coupled to control the engine, a transmission controller (TCM) coupled to control the transmission and a vehicle system controller (VSC) adapted to control the powertrain.

AirSTAR: A UAV Platform for Flight Dynamics and Control System Testing

NASA Technical Reports Server (NTRS)

Jordan, Thomas L.; Foster, John V.; Bailey, Roger M.; Belcastro, Christine M.

2006-01-01

As part of the NASA Aviation Safety Program at Langley Research Center, a dynamically scaled unmanned aerial vehicle (UAV) and associated ground based control system are being developed to investigate dynamics modeling and control of large transport vehicles in upset conditions. The UAV is a 5.5% (seven foot wingspan), twin turbine, generic transport aircraft with a sophisticated instrumentation and telemetry package. A ground based, real-time control system is located inside an operations vehicle for the research pilot and associated support personnel. The telemetry system supports over 70 channels of data plus video for the downlink and 30 channels for the control uplink. Data rates are in excess of 200 Hz. Dynamic scaling of the UAV, which includes dimensional, weight, inertial, actuation, and control system scaling, is required so that the sub-scale vehicle will realistically simulate the flight characteristics of the full-scale aircraft. This testbed will be utilized to validate modeling methods, flight dynamics characteristics, and control system designs for large transport aircraft, with the end goal being the development of technologies to reduce the fatal accident rate due to loss-of-control.

Design of Distributed Cyber-Physical Systems for Connected and Automated Vehicles with Implementing Methodologies

DOE Office of Scientific and Technical Information (OSTI.GOV)

Feng, Yixiong; Hu, Bingtao; Hao, He

With the development of communication and control technology, intelligent transportation systems have received increasing attention from both industry and academia. Intelligent transportation systems are supported by the Internet of Things, Cyber-Physical System, Artificial Intelligence, Cloud Computing and many other technologies, which supply fundamental information for connected and automated vehicles. Although plenty of studies have provided different formulations for intelligent transportation systems, many of them depend on Master Control Center. However, a centralized control mode requires a huge amount of data transmission and high level of hardware configuration and may cause communication delay and privacy leak. Some distributed architectures have beenmore » proposed to overcome the above problems but systematized technologies to collect and exchange information, process large amounts of data, model the dynamics of vehicles, and safely control the connected and automated vehicles are not explored in detail. In this paper, we proposed a novel distributed cyber-physical system for connected and automated vehicles in which every vehicle is modeled as a double-integrator using edge computing to analyze information collected from its nearest neighbors. The vehicles are supposed to travel along a desired trajectory and to maintain a rigid formation geometry. Related methodologies for the proposed system are illustrated and experiments are conducted showing that the performance of the connected and automated vehicles matches very well with analytic predictions. Some design guidelines and open questions are provided for the future study.« less

Design of Distributed Cyber-Physical Systems for Connected and Automated Vehicles with Implementing Methodologies

DOE PAGES

Feng, Yixiong; Hu, Bingtao; Hao, He; ...

2018-02-14

With the development of communication and control technology, intelligent transportation systems have received increasing attention from both industry and academia. Intelligent transportation systems are supported by the Internet of Things, Cyber-Physical System, Artificial Intelligence, Cloud Computing and many other technologies, which supply fundamental information for connected and automated vehicles. Although plenty of studies have provided different formulations for intelligent transportation systems, many of them depend on Master Control Center. However, a centralized control mode requires a huge amount of data transmission and high level of hardware configuration and may cause communication delay and privacy leak. Some distributed architectures have beenmore » proposed to overcome the above problems but systematized technologies to collect and exchange information, process large amounts of data, model the dynamics of vehicles, and safely control the connected and automated vehicles are not explored in detail. In this paper, we proposed a novel distributed cyber-physical system for connected and automated vehicles in which every vehicle is modeled as a double-integrator using edge computing to analyze information collected from its nearest neighbors. The vehicles are supposed to travel along a desired trajectory and to maintain a rigid formation geometry. Related methodologies for the proposed system are illustrated and experiments are conducted showing that the performance of the connected and automated vehicles matches very well with analytic predictions. Some design guidelines and open questions are provided for the future study.« less

Tracking Control and System Development for Laser-Driven Micro-Vehicles

NASA Astrophysics Data System (ADS)

Kajiwara, Itsuro; Hoshino, Kentaro; Hara, Shinji; Shiokata, Daisuke; Yabe, Takashi

The purpose of this paper is to design a control system for an integrated laser propulsion/tracking system to achieve continuous motion and control of laser-driven micro-vehicles. Laser propulsion is significant in achieving miniature and light micro-vehicles. A laser-driven micro-airplane has been studied using a paper airplane and YAG laser, resulting in successful gliding of the airplane. High-performance laser tracking control is required to achieve continuous flight. This paper presents a control design strategy based on the generalized Kalman-Yakubovic-Popov lemma to achieve this requirement. Experiments have been carried out to evaluate the performance of the integrated laser propulsion/tracking system.

A Generic Guidance and Control Structure for Six-Degree-of-Freedom Conceptual Aircraft Design

NASA Technical Reports Server (NTRS)

Cotting, M. Christopher; Cox, Timothy H.

2005-01-01

A control system framework is presented for both real-time and batch six-degree-of-freedom simulation. This framework allows stabilization and control with multiple command options, from body rate control to waypoint guidance. Also, pilot commands can be used to operate the simulation in a pilot-in-the-loop environment. This control system framework is created by using direct vehicle state feedback with nonlinear dynamic inversion. A direct control allocation scheme is used to command aircraft effectors. Online B-matrix estimation is used in the control allocation algorithm for maximum algorithm flexibility. Primary uses for this framework include conceptual design and early preliminary design of aircraft, where vehicle models change rapidly and a knowledge of vehicle six-degree-of-freedom performance is required. A simulated airbreathing hypersonic vehicle and a simulated high performance fighter are controlled to demonstrate the flexibility and utility of the control system.

76 FR 77183 - Federal Motor Vehicle Safety Standards; Theft Protection and Rollaway Prevention

Federal Register 2010, 2011, 2012, 2013, 2014

2011-12-12

...: Attempts to shut down the propulsion system without first moving the gear selection control to the ``park... selection control to ``park'' (for vehicles with a ``park'' position), or exits a vehicle without first... without first moving the gear selection control to the ``park'' position (for vehicles with a ``park...

Cooperative and Integrated Vehicle and Intersection Control for Energy Efficiency (CIVIC-E²)

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hou, Yunfei; Seliman, Salaheldeen M. S.; Wang, Enshu

Recent advances in connected vehicle technologies enable vehicles and signal controllers to cooperate and improve the traffic management at intersections. This paper explores the opportunity for cooperative and integrated vehicle and intersection control for energy efficiency (CIVIC-E 2) to contribute to a more sustainable transportation system. We propose a two-level approach that jointly optimizes the traffic signal timing and vehicles' approach speed, with the objective being to minimize total energy consumption for all vehicles passing through an isolated intersection. More specifically, at the intersection level, a dynamic programming algorithm is designed to find the optimal signal timing by explicitly consideringmore » the arrival time and energy profile of each vehicle. At the vehicle level, a model predictive control strategy is adopted to ensure that vehicles pass through the intersection in a timely fashion. Our simulation study has shown that the proposed CIVIC-E 2 system can significantly improve intersection performance under various traffic conditions. Compared with conventional fixed-time and actuated signal control strategies, the proposed algorithm can reduce energy consumption and queue length by up to 31% and 95%, respectively.« less

Cooperative and Integrated Vehicle and Intersection Control for Energy Efficiency (CIVIC-E²)

DOE PAGES

Hou, Yunfei; Seliman, Salaheldeen M. S.; Wang, Enshu; ...

2018-02-15

Recent advances in connected vehicle technologies enable vehicles and signal controllers to cooperate and improve the traffic management at intersections. This paper explores the opportunity for cooperative and integrated vehicle and intersection control for energy efficiency (CIVIC-E 2) to contribute to a more sustainable transportation system. We propose a two-level approach that jointly optimizes the traffic signal timing and vehicles' approach speed, with the objective being to minimize total energy consumption for all vehicles passing through an isolated intersection. More specifically, at the intersection level, a dynamic programming algorithm is designed to find the optimal signal timing by explicitly consideringmore » the arrival time and energy profile of each vehicle. At the vehicle level, a model predictive control strategy is adopted to ensure that vehicles pass through the intersection in a timely fashion. Our simulation study has shown that the proposed CIVIC-E 2 system can significantly improve intersection performance under various traffic conditions. Compared with conventional fixed-time and actuated signal control strategies, the proposed algorithm can reduce energy consumption and queue length by up to 31% and 95%, respectively.« less

Entry Vehicle Control System Design for the Mars Smart Lander

NASA Technical Reports Server (NTRS)

Calhoun, Philip C.; Queen, Eric M.

2002-01-01

The NASA Langley Research Center, in cooperation with the Jet Propulsion Laboratory, participated in a preliminary design study of the Entry, Descent and Landing phase for the Mars Smart Lander Project. This concept utilizes advances in Guidance, Navigation and Control technology to significantly reduce uncertainty in the vehicle landed location on the Mars surface. A candidate entry vehicle controller based on the Reaction Control System controller for the Apollo Lunar Excursion Module digital autopilot is proposed for use in the entry vehicle attitude control. A slight modification to the phase plane controller is used to reduce jet-firing chattering while maintaining good control response for the Martian entry probe application. The controller performance is demonstrated in a six-degree-of-freedom simulation with representative aerodynamics.

Connected Vehicle Technologies for Efficient Urban Transportation

DOT National Transportation Integrated Search

2016-10-24

Connected vehicle technology is employed to optimize the vehicle's control system in real-time to reduce congestion, improve fuel economy, and reduce emissions. This project's goal was to develop a two-way communication system to upload vehicle data ...

Design and Implementation of a Thermal Load Reduction System for a Hyundai Sonata PHEV for Improved Range

DOE Office of Scientific and Technical Information (OSTI.GOV)

Rugh, John P; Kreutzer, Cory J; Scott, Matthew

Increased adoption of electric-drive vehicles requires overcoming hurdles including limited vehicle range. Vehicle cabin heating and cooling demand for occupant climate control requires energy from the main battery and has been shown to significantly degrade vehicle range. During peak cooling and heating conditions, climate control can require as much as or more energy than propulsion. As part of an ongoing project, the National Renewable Energy Laboratory and project partners Hyundai America Technical Center, Inc., Gentherm, Pittsburgh Glass Works, PPG Industries, Sekisui, 3 M, and Hanon Systems developed a thermal load reduction system to reduce the range penalty associated with electricmore » vehicle climate control. Solar reflective paint, solar control glass, heated and cooled/ventilated seats, heated surfaces, and a heated windshield with door demisters were integrated into a Hyundai Sonata plug-in hybrid electric vehicle. Cold weather field-testing was conducted in Fairbanks, Alaska, and warm weather testing was conducted in Death Valley, California, to assess the system performance in comparison to the baseline production vehicle. In addition, environmental chamber testing at peak heating and cooling conditions was performed to assess the performance of the system in standardized conditions compared to the baseline. Experimental results are presented in this paper, providing quantitative data to automobile manufacturers on the impact of climate control thermal load reduction technologies to increase the advanced thermal technology adoption and market penetration of electric drive vehicles.« less

Performance Evaluation of a Thermal Load Reduction System in a Hyundai Sonata PHEV

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kreutzer, Cory J; Rugh, John P; Titov, Eugene V

Increased adoption of electric-drive vehicles (EDVs) requires overcoming hurdles including limited vehicle range. Vehicle cabin heating and cooling demand for occupant climate control requires energy from the main battery and has been shown to significantly degrade vehicle range. During peak cooling and heating conditions, climate control can require as much or more energy as propulsion. As part of an ongoing project, NREL and project partners Hyundai America Technical Center, Inc. (HATCI), Gentherm , Pittsburgh Glass Works (PGW), PPG Industries, Sekisui, 3M, and Hanon Systems developed a thermal load reduction system in order to reduce the range penalty associated with electricmore » vehicle climate control. Solar reflective paint, solar control glass, heated and cooled/ventilated seats, heated surfaces, and heated windshield with door demisters were integrated into a Hyundai Sonata plug-in hybrid electric vehicle (PHEV). Cold weather field-testing was conducted in Fairbanks, Alaska while warm weather testing was conducted in Death Valley, California to assess the system performance in comparison to the baseline production vehicle. In addition, environmental chamber testing at peak heating and cooling conditions was performed to assess the performance of the system in standardized conditions compared to the baseline. Experimental results are presented in this paper providing quantitative data to automobile manufacturers on the impact of climate control thermal load reduction technologies to increase the advanced thermal technology adoption and market penetration of electric drive vehicles.« less

Robust adaptive vibration control of a flexible structure.

PubMed

Khoshnood, A M; Moradi, H M

2014-07-01

Different types of L1 adaptive control systems show that using robust theories with adaptive control approaches has produced high performance controllers. In this study, a model reference adaptive control scheme considering robust theories is used to propose a practical control system for vibration suppression of a flexible launch vehicle (FLV). In this method, control input of the system is shaped from the dynamic model of the vehicle and components of the control input are adaptively constructed by estimating the undesirable vibration frequencies. Robust stability of the adaptive vibration control system is guaranteed by using the L1 small gain theorem. Simulation results of the robust adaptive vibration control strategy confirm that the effects of vibration on the vehicle performance considerably decrease without the loss of the phase margin of the system. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Rotorcraft control system design for uncertain vehicle dynamics using quantitative feedback theory

NASA Technical Reports Server (NTRS)

Hess, R. A.

1994-01-01

Quantitative Feedback Theory describes a frequency-domain technique for the design of multi-input, multi-output control systems which must meet time or frequency domain performance criteria when specified uncertainty exists in the linear description of the vehicle dynamics. This theory is applied to the design of the longitudinal flight control system for a linear model of the BO-105C rotorcraft. Uncertainty in the vehicle model is due to the variation in the vehicle dynamics over a range of airspeeds from 0-100 kts. For purposes of exposition, the vehicle description contains no rotor or actuator dynamics. The design example indicates the manner in which significant uncertainty exists in the vehicle model. The advantage of using a sequential loop closure technique to reduce the cost of feedback is demonstrated by example.

An anticipative escape system for vehicles in water crashes

NASA Astrophysics Data System (ADS)

Shen, Chuanliang; Wang, Jiawei; Yin, Qi; Zhu, Yantao; Yang, Jiawei; Liao, Mengdi; Yang, Liming

2017-07-01

In this article, it designs an escape system for vehicles in water crashes. The structure mainly contains sensors, control organs and actuating mechanism for both doors and windows. Sensors judge whether the vehicle falls into water or is in the falling process. The actuating mechanism accepts the signal delivered by the control organs, then open the electronic central lock on doors and meanwhile lower the window. The water escape system is able to anticipate drowning situations for vehicles and controls both doors and windows in such an emergency. Under the premise of doors staying in an undamaged state, it is for sure that people in the vehicle can open the door while drowning in the water and safely escape.

Baseline tests of the EVA contractor electric passenger vehicle

NASA Technical Reports Server (NTRS)

Bozek, J. M.; Tryon, H. B.; Slavick, R. J.

1977-01-01

The EVA Contactor four door sedan, an electric passenger vehicle, was tested to characterize the state-of-the-art of electric vehicles. It is a four passenger sedan that was converted to an electric vehicle. It is powered by 16 series connected 6 volt electric vehicle batteries through a four step contactor controller actuated by a foot accelerator pedal. The controller changes the voltage applied to the separately excited DC motor. The braking system is a vacuum assisted hydraulic braking system. Regenerative braking was also provided.

Application of the advanced engineering environment for optimization energy consumption in designed vehicles

NASA Astrophysics Data System (ADS)

Monica, Z.; Sękala, A.; Gwiazda, A.; Banaś, W.

2016-08-01

Nowadays a key issue is to reduce the energy consumption of road vehicles. In particular solution one could find different strategies of energy optimization. The most popular but not sophisticated is so called eco-driving. In this strategy emphasized is particular behavior of drivers. In more sophisticated solution behavior of drivers is supported by control system measuring driving parameters and suggesting proper operation of the driver. The other strategy is concerned with application of different engineering solutions that aid optimization the process of energy consumption. Such systems take into consideration different parameters measured in real time and next take proper action according to procedures loaded to the control computer of a vehicle. The third strategy bases on optimization of the designed vehicle taking into account especially main sub-systems of a technical mean. In this approach the optimal level of energy consumption by a vehicle is obtained by synergetic results of individual optimization of particular constructional sub-systems of a vehicle. It is possible to distinguish three main sub-systems: the structural one the drive one and the control one. In the case of the structural sub-system optimization of the energy consumption level is related with the optimization or the weight parameter and optimization the aerodynamic parameter. The result is optimized body of a vehicle. Regarding the drive sub-system the optimization of the energy consumption level is related with the fuel or power consumption using the previously elaborated physical models. Finally the optimization of the control sub-system consists in determining optimal control parameters.

A PEMFC hybrid electric vehicle real time control system

NASA Astrophysics Data System (ADS)

Sun, Hongqiao

In recent years, environmental friendly technologies and alternative energy solutions have drawn a lot of public attentions due to global energy crisis and pollution issues. Fuel cell (FC), a technology invented almost at the same time as the internal combustion (IC) engine, is now the focus of the automotive industry again. The fuel cell vehicle (FCV) has zero emission and its efficiency is significantly higher than the conventional IC engine power vehicles. Among a variety of FCV technologies, proton exchange membrane (PEM) FC vehicle appears to be far more attractive and mature. The prototype PEMFC vehicle has been developed and demonstrated to the public by nearly all the major automotive manufacturers in recent years. However, to the interest of the public research, publications and documentations on the PEMFC vehicle technology are rarely available due to its proprietary nature, which essentially makes it a secured technology. This dissertation demonstrates a real world application of a PEMFC hybrid electric vehicle. Through presenting the vehicle design concept, developing the real time control system and generating generic operation principles, this dissertation targets at establishing the public knowledge base on this new technology. A complete PEMFC hybrid electric vehicle design, including vehicle components layout, process flow diagram, real time control system architecture, subsystem structures and control algorithms, is presented in order to help understand the whole vehicle system. The design concept is validated through the vehicle demonstration. Generic operating principles are established along with the validation process, which helps populate this emerging technology. Thereafter, further improvements and future research directions are discussed.

Global Positioning System Synchronized Active Light Autonomous Docking System

NASA Technical Reports Server (NTRS)

Howard, Richard T. (Inventor); Book, Michael L. (Inventor); Bryan, Thomas C. (Inventor); Bell, Joseph L. (Inventor)

1996-01-01

A Global Positioning System Synchronized Active Light Autonomous Docking System (GPSSALADS) for automatically docking a chase vehicle with a target vehicle comprising at least one active light emitting target which is operatively attached to the target vehicle. The target includes a three-dimensional array of concomitantly flashing lights which flash at a controlled common frequency. The GPSSALADS further comprises a visual tracking sensor operatively attached to the chase vehicle for detecting and tracking the target vehicle. Its performance is synchronized with the flash frequency of the lights by a synchronization means which is comprised of first and second internal clocks operatively connected to the active light target and visual tracking sensor, respectively, for providing timing control signals thereto, respectively. The synchronization means further includes first and second Global Positioning System receivers operatively connected to the first and second internal clocks, respectively, for repeatedly providing simultaneous synchronization pulses to the internal clocks, respectively. In addition, the GPSSALADS includes a docking process controller means which is operatively attached to the chase vehicle and is responsive to the visual tracking sensor for producing commands for the guidance and propulsion system of the chase vehicle.

Global Positioning System Synchronized Active Light Autonomous Docking System

NASA Technical Reports Server (NTRS)

Howard, Richard (Inventor)

1994-01-01

A Global Positioning System Synchronized Active Light Autonomous Docking System (GPSSALADS) for automatically docking a chase vehicle with a target vehicle comprises at least one active light emitting target which is operatively attached to the target vehicle. The target includes a three-dimensional array of concomitantly flashing lights which flash at a controlled common frequency. The GPSSALADS further comprises a visual tracking sensor operatively attached to the chase vehicle for detecting and tracking the target vehicle. Its performance is synchronized with the flash frequency of the lights by a synchronization means which is comprised of first and second internal clocks operatively connected to the active light target and visual tracking sensor, respectively, for providing timing control signals thereto, respectively. The synchronization means further includes first and second Global Positioning System receivers operatively connected to the first and second internal clocks, respectively, for repeatedly providing simultaneous synchronization pulses to the internal clocks, respectively. In addition, the GPSSALADS includes a docking process controller means which is operatively attached to the chase vehicle and is responsive to the visual tracking sensor for producing commands for the guidance and propulsion system of the chase vehicle.

Component Control System for a Vehicle

NASA Technical Reports Server (NTRS)

Lee, Chunhao J. (Inventor); Fraser-Chanpong, Nathan (Inventor); Vitale, Robert L. (Inventor); Akinyode, Akinjide Akinniyi (Inventor); Dawson, Andrew D. (Inventor); Guo, Raymond (Inventor); Waligora, Thomas M. (Inventor); Spain, Ivan (Inventor); Bluethmann, William J. (Inventor); Reed, Ryan M. (Inventor)

2016-01-01

A vehicle includes a chassis, a modular component, and a central operating system. The modular component is supported by the chassis. The central operating system includes a component control system, a primary master controller, and a secondary master controller. The component control system is configured for controlling the modular component. The primary and secondary master controllers are in operative communication with the component control system. The primary and secondary master controllers are configured to simultaneously transmit commands to the component control system. The component control system is configured to accept commands from the secondary master controller only when a fault occurs in the primary master controller.

Deceleration-Limiting Roadway Barrier

NASA Technical Reports Server (NTRS)

Schneider, William C. (Inventor); Locke, P. James (Inventor)

2006-01-01

Roadway barrier system and method are disclosed for decelerating a moving vehicle in a controlled manner and for retaining the decelerated vehicle. A net or mesh of the roadway barrier system receives and captures the moving vehicle. The net or mesh is secured to anchors by energy absorbing straps. The energy absorbing straps deploy under a tensional load to decelerate the moving vehicle, the straps providing a controlled resistance to the tensional load over a predefined displacement or stroke to bring the moving vehicle to rest. Additional features include a sacrificial panel or sheet in front of the net that holds up the net or mesh while deflecting vehicles that collide only tangentially with the roadway barrier system.

Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration

NASA Technical Reports Server (NTRS)

Frederick, D. K.; Lashmet, P. K.; Sandor, G. N.; Shen, C. N.; Smith, E. J.; Yerazunis, S. W.

1971-01-01

Investigation of problems related to control of a mobile planetary vehicle according to a systematic plan for the exploration of Mars has been undertaken. Problem areas receiving attention include: (1) overall systems analysis; (2) vehicle configuration and dynamics; (3) toroidal wheel design and evaluation; (4) on-board navigation systems; (5) satellite-vehicle navigation systems; (6) obstacle detection systems; (7) terrain sensing, interpretation and modeling; (8) computer simulation of terrain sensor-path selection systems; and (9) chromatographic systems design concept studies. The specific tasks which have been undertaken are defined and the progress which has been achieved during the period July 1, 1971 to December 31, 1971 is summarized.

A novel technique for optimal integration of active steering and differential braking with estimation to improve vehicle directional stability.

PubMed

Mirzaeinejad, Hossein; Mirzaei, Mehdi; Rafatnia, Sadra

2018-06-11

This study deals with the enhancement of directional stability of vehicle which turns with high speeds on various road conditions using integrated active steering and differential braking systems. In this respect, the minimum usage of intentional asymmetric braking force to compensate the drawbacks of active steering control with small reduction of vehicle longitudinal speed is desired. To this aim, a new optimal multivariable controller is analytically developed for integrated steering and braking systems based on the prediction of vehicle nonlinear responses. A fuzzy programming extracted from the nonlinear phase plane analysis is also used for managing the two control inputs in various driving conditions. With the proposed fuzzy programming, the weight factors of the control inputs are automatically tuned and softly changed. In order to simulate a real-world control system, some required information about the system states and parameters which cannot be directly measured, are estimated using the Unscented Kalman Filter (UKF). Finally, simulations studies are carried out using a validated vehicle model to show the effectiveness of the proposed integrated control system in the presence of model uncertainties and estimation errors. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

The Case for Distributed Engine Control in Turbo-Shaft Engine Systems

NASA Technical Reports Server (NTRS)

Culley, Dennis E.; Paluszewski, Paul J.; Storey, William; Smith, Bert J.

2009-01-01

The turbo-shaft engine is an important propulsion system used to power vehicles on land, sea, and in the air. As the power plant for many high performance helicopters, the characteristics of the engine and control are critical to proper vehicle operation as well as being the main determinant to overall vehicle performance. When applied to vertical flight, important distinctions exist in the turbo-shaft engine control system due to the high degree of dynamic coupling between the engine and airframe and the affect on vehicle handling characteristics. In this study, the impact of engine control system architecture is explored relative to engine performance, weight, reliability, safety, and overall cost. Comparison of the impact of architecture on these metrics is investigated as the control system is modified from a legacy centralized structure to a more distributed configuration. A composite strawman system which is typical of turbo-shaft engines in the 1000 to 2000 hp class is described and used for comparison. The overall benefits of these changes to control system architecture are assessed. The availability of supporting technologies to achieve this evolution is also discussed.

Dynamic modeling and ascent flight control of Ares-I Crew Launch Vehicle

NASA Astrophysics Data System (ADS)

Du, Wei

This research focuses on dynamic modeling and ascent flight control of large flexible launch vehicles such as the Ares-I Crew Launch Vehicle (CLV). A complete set of six-degrees-of-freedom dynamic models of the Ares-I, incorporating its propulsion, aerodynamics, guidance and control, and structural flexibility, is developed. NASA's Ares-I reference model and the SAVANT Simulink-based program are utilized to develop a Matlab-based simulation and linearization tool for an independent validation of the performance and stability of the ascent flight control system of large flexible launch vehicles. A linearized state-space model as well as a non-minimum-phase transfer function model (which is typical for flexible vehicles with non-collocated actuators and sensors) are validated for ascent flight control design and analysis. This research also investigates fundamental principles of flight control analysis and design for launch vehicles, in particular the classical "drift-minimum" and "load-minimum" control principles. It is shown that an additional feedback of angle-of-attack can significantly improve overall performance and stability, especially in the presence of unexpected large wind disturbances. For a typical "non-collocated actuator and sensor" control problem for large flexible launch vehicles, non-minimum-phase filtering of "unstably interacting" bending modes is also shown to be effective. The uncertainty model of a flexible launch vehicle is derived. The robust stability of an ascent flight control system design, which directly controls the inertial attitude-error quaternion and also employs the non-minimum-phase filters, is verified by the framework of structured singular value (mu) analysis. Furthermore, nonlinear coupled dynamic simulation results are presented for a reference model of the Ares-I CLV as another validation of the feasibility of the ascent flight control system design. Another important issue for a single main engine launch vehicle is stability under mal-function of the roll control system. The roll motion of the Ares-I Crew Launch Vehicle under nominal flight conditions is actively stabilized by its roll control system employing thrusters. This dissertation describes the ascent flight control design problem of Ares-I in the event of disabled or failed roll control. A simple pitch/yaw control logic is developed for such a technically challenging problem by exploiting the inherent versatility of a quaternion-based attitude control system. The proposed scheme requires only the desired inertial attitude quaternion to be re-computed using the actual uncontrolled roll angle information to achieve an ascent flight trajectory identical to the nominal flight case with active roll control. Another approach that utilizes a simple adjustment of the proportional-derivative gains of the quaternion-based flight control system without active roll control is also presented. This approach doesn't require the re-computation of desired inertial attitude quaternion. A linear stability criterion is developed for proper adjustments of attitude and rate gains. The linear stability analysis results are validated by nonlinear simulations of the ascent flight phase. However, the first approach, requiring a simple modification of the desired attitude quaternion, is recommended for the Ares-I as well as other launch vehicles in the event of no active roll control. Finally, the method derived to stabilize a large flexible launch vehicle in the event of uncontrolled roll drift is generalized as a modified attitude quaternion feedback law. It is used to stabilize an axisymmetric rigid body by two independent control torques.

Simulation-Based Analysis of Reentry Dynamics for the Sharp Atmospheric Entry Vehicle

NASA Technical Reports Server (NTRS)

Tillier, Clemens Emmanuel

1998-01-01

This thesis describes the analysis of the reentry dynamics of a high-performance lifting atmospheric entry vehicle through numerical simulation tools. The vehicle, named SHARP, is currently being developed by the Thermal Protection Materials and Systems branch of NASA Ames Research Center, Moffett Field, California. The goal of this project is to provide insight into trajectory tradeoffs and vehicle dynamics using simulation tools that are powerful, flexible, user-friendly and inexpensive. Implemented Using MATLAB and SIMULINK, these tools are developed with an eye towards further use in the conceptual design of the SHARP vehicle's trajectory and flight control systems. A trajectory simulator is used to quantify the entry capabilities of the vehicle subject to various operational constraints. Using an aerodynamic database computed by NASA and a model of the earth, the simulator generates the vehicle trajectory in three-dimensional space based on aerodynamic angle inputs. Requirements for entry along the SHARP aerothermal performance constraint are evaluated for different control strategies. Effect of vehicle mass on entry parameters is investigated, and the cross range capability of the vehicle is evaluated. Trajectory results are presented and interpreted. A six degree of freedom simulator builds on the trajectory simulator and provides attitude simulation for future entry controls development. A Newtonian aerodynamic model including control surfaces and a mass model are developed. A visualization tool for interpreting simulation results is described. Control surfaces are roughly sized. A simple controller is developed to fly the vehicle along its aerothermal performance constraint using aerodynamic flaps for control. This end-to-end demonstration proves the suitability of the 6-DOF simulator for future flight control system development. Finally, issues surrounding real-time simulation with hardware in the loop are discussed.

40 CFR 86.1717-99 - Emission control diagnostic system for 1999 and later light-duty vehicles and light-duty trucks.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 40 Protection of Environment 19 2010-07-01 2010-07-01 false Emission control diagnostic system for 1999 and later light-duty vehicles and light-duty trucks. 86.1717-99 Section 86.1717-99 Protection of... diagnostic system for 1999 and later light-duty vehicles and light-duty trucks. (a) The provisions of § 86...

40 CFR 86.1717-01 - Emission control diagnostic system for 1999 and later light-duty vehicles and light-duty trucks.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 40 Protection of Environment 19 2010-07-01 2010-07-01 false Emission control diagnostic system for 1999 and later light-duty vehicles and light-duty trucks. 86.1717-01 Section 86.1717-01 Protection of... diagnostic system for 1999 and later light-duty vehicles and light-duty trucks. (a) The provisions of § 86...

40 CFR 86.1717-99 - Emission control diagnostic system for 1999 and later light-duty vehicles and light-duty trucks.

Code of Federal Regulations, 2011 CFR

2011-07-01

... 40 Protection of Environment 19 2011-07-01 2011-07-01 false Emission control diagnostic system for 1999 and later light-duty vehicles and light-duty trucks. 86.1717-99 Section 86.1717-99 Protection of... diagnostic system for 1999 and later light-duty vehicles and light-duty trucks. (a) The provisions of § 86...

40 CFR 86.1717-01 - Emission control diagnostic system for 1999 and later light-duty vehicles and light-duty trucks.

Code of Federal Regulations, 2011 CFR

2011-07-01

... 40 Protection of Environment 19 2011-07-01 2011-07-01 false Emission control diagnostic system for 1999 and later light-duty vehicles and light-duty trucks. 86.1717-01 Section 86.1717-01 Protection of... diagnostic system for 1999 and later light-duty vehicles and light-duty trucks. (a) The provisions of § 86...

System controls challenges of hypersonic combined-cycle engine powered vehicles

NASA Technical Reports Server (NTRS)

Morrison, Russell H.; Ianculescu, George D.

1992-01-01

Hypersonic aircraft with air-breathing engines have been described as the most complex and challenging air/space vehicle designs ever attempted. This is particularly true for aircraft designed to accelerate to orbital velocities. The propulsion system for the National Aerospace Plane will be an active factor in maintaining the aircraft on course. Typically addressed are the difficulties with the aerodynamic vehicle design and development, materials limitations and propulsion performance. The propulsion control system requires equal materials limitations and propulsion performance. The propulsion control system requires equal concern. Far more important than merely a subset of propulsion performance, the propulsion control system resides at the crossroads of trajectory optimization, engine static performance, and vehicle-engine configuration optimization. To date, solutions at these crossroads are multidisciplinary and generally lag behind the broader performance issues. Just how daunting these demands will be is suggested. A somewhat simplified treatment of the behavioral characteristics of hypersonic aircraft and the issues associated with their air-breathing propulsion control system design are presented.

Synthesis Study on Transitions in Signal Infrastructure and Control Algorithms for Connected and Automated Transportation

DOE Office of Scientific and Technical Information (OSTI.GOV)

Aziz, H. M. Abdul; Wang, Hong; Young, Stan

Documenting existing state of practice is an initial step in developing future control infrastructure to be co-deployed for heterogeneous mix of connected and automated vehicles with human drivers while leveraging benefits to safety, congestion, and energy. With advances in information technology and extensive deployment of connected and automated vehicle technology anticipated over the coming decades, cities globally are making efforts to plan and prepare for these transitions. CAVs not only offer opportunities to improve transportation systems through enhanced safety and efficient operations of vehicles. There are also significant needs in terms of exploring how best to leverage vehicle-to-vehicle (V2V) technology,more » vehicle-to-infrastructure (V2I) technology and vehicle-to-everything (V2X) technology. Both Connected Vehicle (CV) and Connected and Automated Vehicle (CAV) paradigms feature bi-directional connectivity and share similar applications in terms of signal control algorithm and infrastructure implementation. The discussion in our synthesis study assumes the CAV/CV context where connectivity exists with or without automated vehicles. Our synthesis study explores the current state of signal control algorithms and infrastructure, reports the completed and newly proposed CV/CAV deployment studies regarding signal control schemes, reviews the deployment costs for CAV/AV signal infrastructure, and concludes with a discussion on the opportunities such as detector free signal control schemes and dynamic performance management for intersections, and challenges such as dependency on market adaptation and the need to build a fault-tolerant signal system deployment in a CAV/CV environment. The study will serve as an initial critical assessment of existing signal control infrastructure (devices, control instruments, and firmware) and control schemes (actuated, adaptive, and coordinated-green wave). Also, the report will help to identify the future needs for the signal infrastructure to act as the nervous system for urban transportation networks, providing not only signaling, but also observability, surveillance, and measurement capacity. The discussion of the opportunities space includes network optimization and control theory perspectives, and the current states of observability for key system parameters (what can be detected, how frequently can it be reported) as well as controllability of dynamic parameters (this includes adjusting not only the signal phase and timing, but also the ability to alter vehicle trajectories through information or direct control). The perspective of observability and controllability of the dynamic systems provides an appropriate lens to discuss future directions as CAV/CV become more prevalent in the future.« less

Complexity, Robustness, and Multistability in Network Systems with Switching Topologies: A Hierarchical Hybrid Control Approach

DTIC Science & Technology

2015-05-22

sensor networks for managing power levels of wireless networks ; air and ground transportation systems for air traffic control and payload transport and... network systems, large-scale systems, adaptive control, discontinuous systems 16. SECURITY CLASSIFICATION OF: 17. LIMITATION OF ABSTRACT 18. NUMBER OF...cover a broad spectrum of ap- plications including cooperative control of unmanned air vehicles, autonomous underwater vehicles, distributed sensor

The CRREL Instrumented Vehicle: Hardware and Software.

DTIC Science & Technology

1983-01-01

rear axle torque are meas- ured. The vehicle is equipped for front-wheel, rear-wheel or four-wheel drive. A dual brake system allows front-, rear- or...four-wheel braking . A minicomputer- based data acquisition system is installed in the vehicle to control data gather ing and to process the data. The...o..o...o 4 4. Dual brake system control valves . ........ 5 5. Schematic of modified brake system ...... .... st 5 6. Air-shock-absorber regulator

Data Acquisition, Analysis and Transmission Platform for a Pay-As-You-Drive System

PubMed Central

Boquete, Luciano; Rodríguez-Ascariz, José Manuel; Barea, Rafael; Cantos, Joaquín; Miguel-Jiménez, Juan Manuel; Ortega, Sergio

2010-01-01

This paper presents a platform used to acquire, analyse and transmit data from a vehicle to a Control Centre as part of a Pay-As-You-Drive system. The aim is to monitor vehicle usage (how much, when, where and how) and, based on this information, assess the associated risk and set an appropriate insurance premium. To determine vehicle usage, the system analyses the driver’s respect for speed limits, driving style (aggressive or non-aggressive), mobile telephone use and the number of vehicle passengers. An electronic system on board the vehicle acquires these data, processes them and transmits them by mobile telephone (GPRS/UMTS) to a Control Centre, at which the insurance company assesses the risk associated with vehicles monitored by the system. The system provides insurance companies and their customers with an enhanced service and could potentially increase responsible driving habits and reduce the number of road accidents. PMID:22219668

Data acquisition, analysis and transmission platform for a Pay-As-You-Drive system.

PubMed

Boquete, Luciano; Rodríguez-Ascariz, José Manuel; Barea, Rafael; Cantos, Joaquín; Miguel-Jiménez, Juan Manuel; Ortega, Sergio

2010-01-01

This paper presents a platform used to acquire, analyse and transmit data from a vehicle to a Control Centre as part of a Pay-As-You-Drive system. The aim is to monitor vehicle usage (how much, when, where and how) and, based on this information, assess the associated risk and set an appropriate insurance premium. To determine vehicle usage, the system analyses the driver's respect for speed limits, driving style (aggressive or non-aggressive), mobile telephone use and the number of vehicle passengers. An electronic system on board the vehicle acquires these data, processes them and transmits them by mobile telephone (GPRS/UMTS) to a Control Centre, at which the insurance company assesses the risk associated with vehicles monitored by the system. The system provides insurance companies and their customers with an enhanced service and could potentially increase responsible driving habits and reduce the number of road accidents.

General Purpose Vehicle Mechanic Career Ladder, AFSCs 47232, 47252, and 47275.

DTIC Science & Technology

1983-03-01

general-purpose vehicles; gasoline and diesel engines; automotive electrical and emission control systems maintenance; drive trains and brake systems...OR HYDRAULIC PRESSES ELECTRONIC IGNITION TESTERS HEADLIGHT TESTERS OSCILLOSCOPES DYNAMOMETERS EXHAUST EMISSION TESTERS GAS SHIELD WELDING...collection forms; man-hour accounting forms and reports; corrosion control procedures; troubleshooting exhaust systems, and emission control systems

A High-Power Wireless Charging System Development and Integration for a Toyota RAV4 Electric Vehicle

DOE Office of Scientific and Technical Information (OSTI.GOV)

Onar, Omer C; Seiber, Larry Eugene; White, Cliff P

Several wireless charging methods are underdevelopment or available as an aftermarket option in the light-duty automotive market. However, there are not many studies detailing the vehicle integrations, particularly a complete vehicle integration with higher power levels. This paper presents the development, implementation, and vehicle integration of a high-power (>10 kW) wireless power transfer (WPT)-based electric vehicle (EV) charging system for a Toyota RAV4 vehicle. The power stages of the system are introduced with the design specifications and control systems including the active front-end rectifier with power factor correction (PFC), high frequency power inverter, high frequency isolation transformer, coupling coils, vehiclemore » side full-bridge rectifier and filter, and the vehicle battery. The operating principles of the control, communications, and protection systems are also presented in addition to the alignment and the driver interface system. The physical limitations of the system are also defined that would prevent the system operating at higher levels. The experiments are carried out using the integrated vehicle and the results obtained to demonstrate the system performance including the stage-by-stage efficiencies with matched and interoperable primary and secondary coils.« less

Vehicle systems: coupled and interactive dynamics analysis

NASA Astrophysics Data System (ADS)

Vantsevich, Vladimir V.

2014-11-01

This article formulates a new direction in vehicle dynamics, described as coupled and interactive vehicle system dynamics. Formalised procedures and analysis of case studies are presented. An analytical consideration, which explains the physics of coupled system dynamics and its consequences for dynamics of a vehicle, is given for several sets of systems including: (i) driveline and suspension of a 6×6 truck, (ii) a brake mechanism and a limited slip differential of a drive axle and (iii) a 4×4 vehicle steering system and driveline system. The article introduces a formal procedure to turn coupled system dynamics into interactive dynamics of systems. A new research direction in interactive dynamics of an active steering and a hybrid-electric power transmitting unit is presented and analysed to control power distribution between the drive axles of a 4×4 vehicle. A control strategy integrates energy efficiency and lateral dynamics by decoupling dynamics of the two systems thus forming their interactive dynamics.

Control performance of a road vehicle with four independent single-wheel electric motors and steer-by-wire system

NASA Astrophysics Data System (ADS)

Weiskircher, Thomas; Müller, Steffen

2012-01-01

This article presents a motion controller for a road vehicle equipped with a steer-by-wire system and four independent electric rim-mounted drives. The motion controller separates the control law from the specific actuator setup by the usage of virtual global control variables acting on the vehicle centre of gravity. A control allocation algorithm distributes the virtual control variables to the available actuators. An approximation of the real actuator dynamics is used to analyse the performance of different motion controller types in the linear and nonlinear driving regions. In addition, a vehicle state observer consisting of a traction force observer and an unscented Kalman filter is discussed to analyse the control behaviour in the case of a real sensor setup.

Systems and Methods for Collaboratively Controlling at Least One Aircraft

NASA Technical Reports Server (NTRS)

Estkowski, Regina I. (Inventor)

2016-01-01

An unmanned vehicle management system includes an unmanned aircraft system (UAS) control station controlling one or more unmanned vehicles (UV), a collaborative routing system, and a communication network connecting the UAS and the collaborative routing system. The collaborative routing system being configured to receive flight parameters from an operator of the UAS control station and, based on the received flight parameters, automatically present the UAS control station with flight plan options to enable the operator to operate the UV in a defined airspace.

Magnetic control systems for large spacecraft with applications to space telescope

NASA Technical Reports Server (NTRS)

Dougherty, H.; Machnick, J.; Nakashima, A.; Henry, J.; Tompetrini, K.

1981-01-01

Magnetic control systems for large space vehicles offer the advantage of a simple, reliable, low cost augmentation to the primary control system. When used for momentum management, a magnetic torque source offers a long life and noncontaminant environment when compared to a mass expulsion torque source. These qualities make such systems suitable for employment with the Space Telescope, which is a long life, high performance vehicle with optics and scientific instruments which would be degraded by contamination due to mass expulsion products. The various applications of magnetic systems on the Space Telescope are considered. The future trend in magnetic control of large space vehicles lies in providing a known three axis reference for backup operations, such as recovery of the primary control mode.

Wireless Control of Miniaturized Mobile Vehicle for Indoor Surveillance

NASA Astrophysics Data System (ADS)

Taha Saquib, Syed M.; Hameed, Sarmad; Usman Ali, Syed M.; Jafri, Raza; Amin, Imran

2013-12-01

This work is based upon electronic automation and Smart Control techniques, which constitute the basis of Control Area Network (CAN) and Personal Area Network (PAN). Bluetooth technology has been interfaced with a programmable controller to provide multi-dimensional vehicle control. A network is proposed which contains a remote, mobile host controller and an android operating system based mobile set (Client). The client communicates with a host controller through a Bluetooth device. The system incorporates duplex communication after successful confirmation between the host and the client; the android based mobile unit controls the vehicle through the Bluetooth module.

Advanced control technology and its potential for future transport aircraft

NASA Technical Reports Server (NTRS)

1976-01-01

The topics covered include fly by wire, digital control, control configured vehicles, applications to advanced flight vehicles, advanced propulsion control systems, and active control technology for transport aircraft.

Multi-Objective Sliding Mode Control on Vehicle Cornering Stability with Variable Gear Ratio Actuator-Based Active Front Steering Systems

PubMed Central

Ma, Xinbo; Wong, Pak Kin; Zhao, Jing; Xie, Zhengchao

2016-01-01

Active front steering (AFS) is an emerging technology to improve the vehicle cornering stability by introducing an additional small steering angle to the driver’s input. This paper proposes an AFS system with a variable gear ratio steering (VGRS) actuator which is controlled by using the sliding mode control (SMC) strategy to improve the cornering stability of vehicles. In the design of an AFS system, different sensors are considered to measure the vehicle state, and the mechanism of the AFS system is also modelled in detail. Moreover, in order to improve the cornering stability of vehicles, two dependent objectives, namely sideslip angle and yaw rate, are considered together in the design of SMC strategy. By evaluating the cornering performance, Sine with Dwell and accident avoidance tests are conducted, and the simulation results indicate that the proposed SMC strategy is capable of improving the cornering stability of vehicles in practice. PMID:28036037

Design of a robotic vehicle with self-contained intelligent wheels

NASA Astrophysics Data System (ADS)

Poulson, Eric A.; Jacob, John S.; Gunderson, Robert W.; Abbott, Ben A.

1998-08-01

The Center for Intelligent Systems has developed a small robotic vehicle named the Advanced Rover Chassis 3 (ARC 3) with six identical intelligent wheel units attached to a payload via a passive linkage suspension system. All wheels are steerable, so the ARC 3 can move in any direction while rotating at any rate allowed by the terrain and motors. Each intelligent wheel unit contains a drive motor, steering motor, batteries, and computer. All wheel units are identical, so manufacturing, programing, and spare replacement are greatly simplified. The intelligent wheel concept would allow the number and placement of wheels on the vehicle to be changed with no changes to the control system, except to list the position of all the wheels relative to the vehicle center. The task of controlling the ARC 3 is distributed between one master computer and the wheel computers. Tasks such as controlling the steering motors and calculating the speed of each wheel relative to the vehicle speed in a corner are dependent on the location of a wheel relative to the vehicle center and ar processed by the wheel computers. Conflicts between the wheels are eliminated by computing the vehicle velocity control in the master computer. Various approaches to this distributed control problem, and various low level control methods, have been explored.

Tire-road friction estimation and traction control strategy for motorized electric vehicle.

PubMed

Jin, Li-Qiang; Ling, Mingze; Yue, Weiqiang

2017-01-01

In this paper, an optimal longitudinal slip ratio system for real-time identification of electric vehicle (EV) with motored wheels is proposed based on the adhesion between tire and road surface. First and foremost, the optimal longitudinal slip rate torque control can be identified in real time by calculating the derivative and slip rate of the adhesion coefficient. Secondly, the vehicle speed estimation method is also brought. Thirdly, an ideal vehicle simulation model is proposed to verify the algorithm with simulation, and we find that the slip ratio corresponds to the detection of the adhesion limit in real time. Finally, the proposed strategy is applied to traction control system (TCS). The results showed that the method can effectively identify the state of wheel and calculate the optimal slip ratio without wheel speed sensor; in the meantime, it can improve the accelerated stability of electric vehicle with traction control system (TCS).

Tire-road friction estimation and traction control strategy for motorized electric vehicle

PubMed Central

Jin, Li-Qiang; Yue, Weiqiang

2017-01-01

In this paper, an optimal longitudinal slip ratio system for real-time identification of electric vehicle (EV) with motored wheels is proposed based on the adhesion between tire and road surface. First and foremost, the optimal longitudinal slip rate torque control can be identified in real time by calculating the derivative and slip rate of the adhesion coefficient. Secondly, the vehicle speed estimation method is also brought. Thirdly, an ideal vehicle simulation model is proposed to verify the algorithm with simulation, and we find that the slip ratio corresponds to the detection of the adhesion limit in real time. Finally, the proposed strategy is applied to traction control system (TCS). The results showed that the method can effectively identify the state of wheel and calculate the optimal slip ratio without wheel speed sensor; in the meantime, it can improve the accelerated stability of electric vehicle with traction control system (TCS). PMID:28662053

Adaptive nonlinear control for autonomous ground vehicles

NASA Astrophysics Data System (ADS)

Black, William S.

We present the background and motivation for ground vehicle autonomy, and focus on uses for space-exploration. Using a simple design example of an autonomous ground vehicle we derive the equations of motion. After providing the mathematical background for nonlinear systems and control we present two common methods for exactly linearizing nonlinear systems, feedback linearization and backstepping. We use these in combination with three adaptive control methods: model reference adaptive control, adaptive sliding mode control, and extremum-seeking model reference adaptive control. We show the performances of each combination through several simulation results. We then consider disturbances in the system, and design nonlinear disturbance observers for both single-input-single-output and multi-input-multi-output systems. Finally, we show the performance of these observers with simulation results.

Vehicle dynamics control of four in-wheel motor drive electric vehicle using gain scheduling based on tyre cornering stiffness estimation

NASA Astrophysics Data System (ADS)

Xiong, Lu; Yu, Zhuoping; Wang, Yang; Yang, Chen; Meng, Yufeng

2012-06-01

This paper focuses on the vehicle dynamic control system for a four in-wheel motor drive electric vehicle, aiming at improving vehicle stability under critical driving conditions. The vehicle dynamics controller is composed of three modules, i.e. motion following control, control allocation and vehicle state estimation. Considering the strong nonlinearity of the tyres under critical driving conditions, the yaw motion of the vehicle is regulated by gain scheduling control based on the linear quadratic regulator theory. The feed-forward and feedback gains of the controller are updated in real-time by online estimation of the tyre cornering stiffness, so as to ensure the control robustness against environmental disturbances as well as parameter uncertainty. The control allocation module allocates the calculated generalised force requirements to each in-wheel motor based on quadratic programming theory while taking the tyre longitudinal/lateral force coupling characteristic into consideration. Simulations under a variety of driving conditions are carried out to verify the control algorithm. Simulation results indicate that the proposed vehicle stability controller can effectively stabilise the vehicle motion under critical driving conditions.

76 FR 55829 - Federal Motor Vehicle Safety Standards; Electronic Stability Control Systems

Federal Register 2010, 2011, 2012, 2013, 2014

2011-09-09

.... Benefits of ESC Electronic stability control (ESC) systems use automatic computer- controlled braking of... demonstrated that these systems reduce fatal single-vehicle crashes of passenger cars by 55 percent and fatal... potential to prevent 56 percent of the fatal passenger car rollovers and 74 percent of the fatal LTV first...

Research on Hybrid Vehicle Drivetrain

NASA Astrophysics Data System (ADS)

Xie, Zhongzhi

Hybrid cars as a solution to energy saving, emission reduction measures, have received widespread attention. Motor drive system as an important part of the hybrid vehicles as an important object of study. Based on the hybrid electric vehicle powertrain control system for permanent magnet synchronous motor as the object of study. Can be applied to hybrid car compares the characteristics of traction motors, chose permanent magnet synchronous Motors as drive motors for hybrid vehicles. Building applications in hybrid cars in MATLAB/Simulink simulation model of permanent-magnet synchronous motor speed control system and analysis of simulation results.

A semi-active control suspension system for railway vehicles with magnetorheological fluid dampers

NASA Astrophysics Data System (ADS)

Wei, Xiukun; Zhu, Ming; Jia, Limin

2016-07-01

The high-speed train has achieved great progress in the last decades. It is one of the most important modes of transportation between cities. With the rapid development of the high-speed train, its safety issue is paid much more attention than ever before. To improve the stability of the vehicle with high speed, extra dampers (i.e. anti-hunting damper) are used in the traditional bogies with passive suspension system. However, the curving performance of the vehicle is undermined due to the extra lateral force generated by the dampers. The active suspension systems proposed in the last decades attempt to solve the vehicle steering issue. However, the active suspension systems need extra actuators driven by electrical power or hydraulic power. There are some implementation and even safety issues which are not easy to be overcome. In this paper, an innovative semi-active controlled lateral suspension system for railway vehicles is proposed. Four magnetorheological fluid dampers are fixed to the primary suspension system of each bogie. They are controlled by online controllers for enhancing the running stability on the straight track line on the one hand and further improving the curving performance by controlling the damper force on the other hand. Two control strategies are proposed in the light of the pure rolling concept. The effectiveness of the proposed strategies is demonstrated by SIMPACK and Matlab co-simulation for a full railway vehicle with two conventional bogies.

Analysis of Evaporative On-Board Diagnostic (OBD) Readiness and DTCs Using I/M Data

EPA Science Inventory

Gasoline vehicles are equipped with evaporative emissions control systems that control vapor from the fuel storage system while a vehicle is sitting or driving. When these systems or the vehicle’s gasoline delivery system malfunction, excessive evaporative emissions can be emitte...

Effects of the Orion Launch Abort Vehicle Plumes on Aerodynamics and Controllability

NASA Technical Reports Server (NTRS)

Vicker, Darby; Childs, Robert; Rogers,Stuart E.; McMullen, Matthew; Garcia, Joseph; Greathouse, James

2013-01-01

Characterization of the launch abort system of the Multi-purpose Crew Vehicle (MPCV) for control design and accurate simulation has provided a significant challenge to aerodynamicists and design engineers. The design space of the launch abort vehicle (LAV) includes operational altitudes from ground level to approximately 300,000 feet, Mach numbers from 0-9, and peak dynamic pressure near 1300psf during transonic flight. Further complicating the characterization of the aerodynamics and the resultant vehicle controllability is the interaction of the vehicle flowfield with the plumes of the two solid propellant motors that provide attitude control and the main propulsive impulse for the LAV. These interactions are a function of flight parameters such as Mach number, altitude, dynamic pressure, vehicle attitude, as well as parameters relating to the operation of the motors themselves - either as a function of time for the AM, or as a result of the flight control system requests for control torque from the ACM. This paper discusses the computational aerodynamic modeling of the aerodynamic interaction caused by main abort motor and the attitude control motor of the MPCV LAV, showing the effects of these interactions on vehicle controllability.

2nd & 3rd Generation Vehicle Subsystems

NASA Technical Reports Server (NTRS)

2000-01-01

This paper contains viewgraph presentation on the "2nd & 3rd Generation Vehicle Subsystems" project. The objective behind this project is to design, develop and test advanced avionics, power systems, power control and distribution components and subsystems for insertion into a highly reliable and low-cost system for a Reusable Launch Vehicles (RLV). The project is divided into two sections: 3rd Generation Vehicle Subsystems and 2nd Generation Vehicle Subsystems. The following topics are discussed under the first section, 3rd Generation Vehicle Subsystems: supporting the NASA RLV program; high-performance guidance & control adaptation for future RLVs; Evolvable Hardware (EHW) for 3rd generation avionics description; Scaleable, Fault-tolerant Intelligent Network or X(trans)ducers (SFINIX); advance electric actuation devices and subsystem technology; hybrid power sources and regeneration technology for electric actuators; and intelligent internal thermal control. Topics discussed in the 2nd Generation Vehicle Subsystems program include: design, development and test of a robust, low-maintenance avionics with no active cooling requirements and autonomous rendezvous and docking systems; design and development of a low maintenance, high reliability, intelligent power systems (fuel cells and battery); and design of a low cost, low maintenance high horsepower actuation systems (actuators).

Plug-in hybrid electric vehicles as a source of distributed frequency regulation

NASA Astrophysics Data System (ADS)

Mullen, Sara Kathryn

The movement to transform the North American power grid into a smart grid may be accomplished by expanding integrated sensing, communications, and control technologies to include every part of the grid to the point of end-use. Plug-in hybrid electric vehicles (PHEV) provide an opportunity for small-scale distributed storage while they are plugged-in. With large numbers of PHEV and the communications and sensing associated with the smart grid, PHEV could provide ancillary services for the grid. Frequency regulation is an ideal service for PHEV because the duration of supply is short (order of minutes) and it is the highest priced ancillary service on the market offering greater financial returns for vehicle owners. Using Simulink a power system simulator modeling the IEEE 14 Bus System was combined with a model of PHEV charging and the controllers which facilitate vehicle-to-grid (V2G) regulation supply. The system includes a V2G controller for each vehicle which makes regulation supply decisions based on battery state, user preferences, and the recommended level of supply. A PHEV coordinator controller located higher in the system has access to reliable frequency measurements and can determine a suitable local automatic generation control (AGC) raise/lower signal for participating vehicles. A first step implementation of the V2G supply system where battery charging is modulated to provide regulation was developed. The system was simulated following a step change in loading using three scenarios: (1) Central generating units provide frequency regulation, (2) PHEV contribute to primary regulation analogous to generator speed governor control, and (3) PHEV contribute to primary and secondary regulation using an additional integral term in the PHEV control signal. In both cases the additional regulation provided by PHEV reduced the area control error (ACE) compared to the base case. Unique contributions resulting from this work include: (1) Studied PHEV energy systems and limitations on battery charging/discharging, (2) Reviewed standards for interconnection of distributed resources and electric vehicle charging [1], [2], (3) Explored strategies for distributed control of PHEV charging, (4) Developed controllers to accommodate PHEV regulation, and (5) Developed a simulator combining a power system model and PHEV/V2G components.

Self-tuning control algorithm design for vehicle adaptive cruise control system through real-time estimation of vehicle parameters and road grade

NASA Astrophysics Data System (ADS)

Marzbanrad, Javad; Tahbaz-zadeh Moghaddam, Iman

2016-09-01

The main purpose of this paper is to design a self-tuning control algorithm for an adaptive cruise control (ACC) system that can adapt its behaviour to variations of vehicle dynamics and uncertain road grade. To this aim, short-time linear quadratic form (STLQF) estimation technique is developed so as to track simultaneously the trend of the time-varying parameters of vehicle longitudinal dynamics with a small delay. These parameters are vehicle mass, road grade and aerodynamic drag-area coefficient. Next, the values of estimated parameters are used to tune the throttle and brake control inputs and to regulate the throttle/brake switching logic that governs the throttle and brake switching. The performance of the designed STLQF-based self-tuning control (STLQF-STC) algorithm for ACC system is compared with the conventional method based on fixed control structure regarding the speed/distance tracking control modes. Simulation results show that the proposed control algorithm improves the performance of throttle and brake controllers, providing more comfort while travelling, enhancing driving safety and giving a satisfactory performance in the presence of different payloads and road grade variations.

Miniaturized, multibeam, solid state scanning laser radar in automobile collision avoidance sensor systems

NASA Astrophysics Data System (ADS)

Sargent, Ronald A.

1995-06-01

Recent intelligent transportation systems (ITS) initiatives sponsored by commercial transportation companies and the U.S. Department of Transportation include an area dedicated to Automated Vehicle Control Systems (AVCS). AVCS systems are dedicated to improving passenger automobile safety, efficiency, and impact on the environment. Minimizing the number of automobile collisions through automated obstacle detection and vehicle response is vital to this effort. Simple, reliable, low cost sensors installed in automobiles to provide driver warning and/or input to vehicle systems such as braking or cruise control are the key piece to making this technology as common as air bags and seat belts. EPA emission regulations now require specific areas to periodically report the mix of vehicle types. These reports must include in the mix the 13 possible categories for vehicles. Simple low cost senors installed as part of the traffic management system will facilitate the determination of vehicle category. Laser Atlanta has recently developed two distinct types of sensors that utilize a unique multi- beam approach to detect `targets' that are potential hazards. They also provide range and range rate data to automobile control and traffic management systems.

Knowledge/geometry-based Mobile Autonomous Robot Simulator (KMARS)

NASA Technical Reports Server (NTRS)

Cheng, Linfu; Mckendrick, John D.; Liu, Jeffrey

1990-01-01

Ongoing applied research is focused on developing guidance system for robot vehicles. Problems facing the basic research needed to support this development (e.g., scene understanding, real-time vision processing, etc.) are major impediments to progress. Due to the complexity and the unpredictable nature of a vehicle's area of operation, more advanced vehicle control systems must be able to learn about obstacles within the range of its sensor(s). A better understanding of the basic exploration process is needed to provide critical support to developers of both sensor systems and intelligent control systems which can be used in a wide spectrum of autonomous vehicles. Elcee Computek, Inc. has been working under contract to the Flight Dynamics Laboratory, Wright Research and Development Center, Wright-Patterson AFB, Ohio to develop a Knowledge/Geometry-based Mobile Autonomous Robot Simulator (KMARS). KMARS has two parts: a geometry base and a knowledge base. The knowledge base part of the system employs the expert-system shell CLIPS ('C' Language Integrated Production System) and necessary rules that control both the vehicle's use of an obstacle detecting sensor and the overall exploration process. The initial phase project has focused on the simulation of a point robot vehicle operating in a 2D environment.

Space vehicle electrical power processing distribution and control study. Volume 1: Summary

NASA Technical Reports Server (NTRS)

Krausz, A.

1972-01-01

A concept for the processing, distribution, and control of electric power for manned space vehicles and future aircraft is presented. Emphasis is placed on the requirements of the space station and space shuttle configurations. The systems involved are referred to as the processing distribution and control system (PDCS), electrical power system (EPS), and electric power generation system (EPGS).

Design of a New Integrated Structure of the Active Suspension System and Emergency Lane Change Test

NASA Astrophysics Data System (ADS)

Zhao, Jing-bo; Liu, Hai-mei; Zhang, Lan-chun; Bei, Shao-yi

2017-09-01

An integrated structure of the active suspension system was proposed in order to solve the problem of the individual control of the height of the body or the adjustable damping of the active suspension system of the electric vehicle, which improve the vibration reduction performance of the vehicle. The air bag was used to replace the traditional spiral spring, and the traditional shock absorber was replaced by the damping adjustable shock absorber, and the control module received the body acceleration sensor and the horizontal height sensor signal. The system controlled adjustable damping coefficient of shock absorber through the height of the car body the output of the air pump relay and the height control valve and the output of the electromagnetic valve of the adjustable damping shock absorber, and the emergency lane change test was carried out under different modes of speed of 60km/h. The experimental results indicated that the damping value was greater, average roll angle, yaw angle and average vehicle lateral acceleration were small when vehicle body was in the state of emergency lane change, which verified the feasibility of the integrated control strategy and structure design of the active suspension system. The research has important theoretical research value and engineering application prospect for designing and controlling strategy of vehicle chassis integrated control system.

Control Relevant Modeling and Design of Scramjet-Powered Hypersonic Vehicles

NASA Astrophysics Data System (ADS)

Dickeson, Jeffrey James

This report provides an overview of scramjet-powered hypersonic vehicle modeling and control challenges. Such vehicles are characterized by unstable non-minimum phase dynamics with significant coupling and low thrust margins. Recent trends in hypersonic vehicle research are summarized. To illustrate control relevant design issues and tradeoffs, a generic nonlinear 3DOF longitudinal dynamics model capturing aero-elastic-propulsive interactions for wedge-shaped vehicle is used. Limitations of the model are discussed and numerous modifications have been made to address control relevant needs. Two different baseline configurations are examined over a two-stage to orbit ascent trajectory. The report highlights how vehicle level-flight static (trim) and dynamic properties change over the trajectory. Thermal choking constraints are imposed on control system design as a direct consequence of having a finite FER margin. The implication of this state-dependent nonlinear FER margin constraint, the right half plane (RHP) zero, and lightly damped flexible modes, on control system bandwidth (BW) and FPA tracking has been discussed. A control methodology has been proposed that addresses the above dynamics while providing some robustness to modeling uncertainty. Vehicle closure (the ability to fly a trajectory segment subject to constraints) is provided through a proposed vehicle design methodology. The design method attempts to use open loop metrics whenever possible to design the vehicle. The design method is applied to a vehicle/control law closed loop nonlinear simulation for validation. The 3DOF longitudinal modeling results are validated against a newly released NASA 6DOF code.

Airborne Simulation of Launch Vehicle Dynamics

NASA Technical Reports Server (NTRS)

Gilligan, Eric T.; Miller, Christopher J.; Hanson, Curtis E.; Orr, Jeb S.

2014-01-01

In this paper we present a technique for approximating the short-period dynamics of an exploration-class launch vehicle during flight test with a high-performance surrogate aircraft in relatively benign endoatmospheric flight conditions. The surrogate vehicle relies upon a nonlinear dynamic inversion scheme with proportional-integral feedback to drive a subset of the aircraft states into coincidence with the states of a time-varying reference model that simulates the unstable rigid body dynamics, servodynamics, and parasitic elastic and sloshing dynamics of the launch vehicle. The surrogate aircraft flies a constant pitch rate trajectory to approximate the boost phase gravity-turn ascent, and the aircraft's closed-loop bandwidth is sufficient to simulate the launch vehicle's fundamental lateral bending and sloshing modes by exciting the rigid body dynamics of the aircraft. A novel control allocation scheme is employed to utilize the aircraft's relatively fast control effectors in inducing various failure modes for the purposes of evaluating control system performance. Sufficient dynamic similarity is achieved such that the control system under evaluation is optimized for the full-scale vehicle with no changes to its parameters, and pilot-control system interaction studies can be performed to characterize the effects of guidance takeover during boost. High-fidelity simulation and flight test results are presented that demonstrate the efficacy of the design in simulating the Space Launch System (SLS) launch vehicle dynamics using NASA Dryden Flight Research Center's Full-scale Advanced Systems Testbed (FAST), a modified F/A-18 airplane, over a range of scenarios designed to stress the SLS's adaptive augmenting control (AAC) algorithm.

Slip Ratio Estimation and Regenerative Brake Control for Decelerating Electric Vehicles without Detection of Vehicle Velocity and Acceleration

NASA Astrophysics Data System (ADS)

Suzuki, Toru; Fujimoto, Hiroshi

In slip ratio control systems, it is necessary to detect the vehicle velocity in order to obtain the slip ratio. However, it is very difficult to measure this velocity directly. We have proposed slip ratio estimation and control methods that do not require the vehicle velocity with acceleration. In this paper, the slip ratio estimation and control methods are proposed without detecting the vehicle velocity and acceleration when it is decelerating. We carried out simulations and experiments by using an electric vehicle to verify the effectiveness of the proposed method.

Crew exploration vehicle (CEV) attitude control using a neural-immunology/memory network

NASA Astrophysics Data System (ADS)

Weng, Liguo; Xia, Min; Wang, Wei; Liu, Qingshan

2015-01-01

This paper addresses the problem of the crew exploration vehicle (CEV) attitude control. CEVs are NASA's next-generation human spaceflight vehicles, and they use reaction control system (RCS) jet engines for attitude adjustment, which calls for control algorithms for firing the small propulsion engines mounted on vehicles. In this work, the resultant CEV dynamics combines both actuation and attitude dynamics. Therefore, it is highly nonlinear and even coupled with significant uncertainties. To cope with this situation, a neural-immunology/memory network is proposed. It is inspired by the human memory and immune systems. The control network does not rely on precise system dynamics information. Furthermore, the overall control scheme has a simple structure and demands much less computation as compared with most existing methods, making it attractive for real-time implementation. The effectiveness of this approach is also verified via simulation.

Advanced Suspension and Control Algorithm for U.S. Army Ground Vehicles

DTIC Science & Technology

2013-04-01

Army Materiel Systems Analysis Activity (AMSAA), for his assistance and guidance in building a multibody vehicle dynamics model of a typical light...Mobility Multipurpose Wheeled Vehicle [HMMWV] model) that was developed in collaboration with the U.S. Army Materiel Systems Analysis Activity (5) is...control weight for GPC With Explicit Disturbance was R = 1.0e-7 over the entire speed range. To simplify analysis , the control weights for the other two

Study on Active Suppression Control of Drivetrain Oscillations in an Electric Vehicle

NASA Astrophysics Data System (ADS)

Huang, Lei; Cui, Ying

2017-07-01

Due to the low damping in a central driven electric vehicle and lack of passive damping mechanisms as compared with a conventional vehicle, the vehicle may endure torsional vibrations which may deteriorates the vehicle’s drivability. Thus active damping control strategy is required to reduce the undesirable oscillations in an EV. In this paper, the origin of the vibration and the design of a damping control method to suppress such oscillations to improve the drivability of an EV are studied. The traction motor torque that is given by the vehicle controller is adjusted according to the acceleration rate of the motor speed to attenuate the resonant frequency. Simulations and experiments are performed to validate the system. The results show that the proposed control system can effectively suppress oscillations and hence improve drivability.

Power train and emission control: allocation procedure by OBD-II system for automotive technology

NASA Astrophysics Data System (ADS)

Kalita, Porag

2017-06-01

OBD-II, systems were designed to maintain low emissions of in use vehicles, including light and medium duty vehicles. In 1989, the California code of Regulations (CCR) known as OBD - II was adopted by the California Air Resource Board (CARB) and the objective to reduce hydrocarbon (HC) emission caused by malfunction of the vehicles emission control systems. OBD-II provides additional information to engineer for diagnosis and repair of emissions related problems. OBD-II, standardizes on the amount of memory (Freeze Frame) it uses to store the readings of the vehicle sensor when it logs on emission related Intermittent Trouble code (IT). The intent of OBD-II, systems is to detect most vehicle malfunctions when performance of a power train component or system deteriorates to the point that the vehicle’s HC emission exceed standard. The vehicle operator is notified at the time when the vehicle begins to marginally exceed emission standards, by illuminating the Malfunctions Indicator Light (MIL).

Environmental Controls and Life Support System Design for a Space Exploration Vehicle

NASA Technical Reports Server (NTRS)

Stambaugh, Imelda C.; Rodriguez, Branelle; Vonau, Walt, Jr.; Borrego, Melissa

2012-01-01

Engineers at Johnson Space Center (JSC) are developing an Environmental Control and Life Support System (ECLSS) design for the Space Exploration Vehicle (SEV). The SEV will aid to expand the human exploration envelope for Geostationary Transfer Orbit (GEO), Near Earth Object (NEO), or planetary missions by using pressurized surface exploration vehicles. The SEV, formerly known as the Lunar Electric Rover (LER), will be an evolutionary design starting as a ground test prototype where technologies for various systems will be tested and evolve into a flight vehicle. This paper will discuss the current SEV ECLSS design, any work contributed toward the development of the ECLSS design, and the plan to advance the ECLSS design based on the SEV vehicle and system needs.

Environmental Controls and Life Support System (ECLSS) Design for a Space Exploration Vehicle (SEV)

NASA Technical Reports Server (NTRS)

Stambaugh, Imelda; Sankaran, Subra

2010-01-01

Engineers at Johnson Space Center (JSC) are developing an Environmental Control and Life Support System (ECLSS) design for the Space Exploration Vehicle (SEV). The SEV will aid to expand the human exploration envelope for Geostationary Transfer Orbit (GEO), Near Earth Object (NEO), or planetary missions by using pressurized surface exploration vehicles. The SEV, formerly known as the Lunar Electric Rover (LER), will be an evolutionary design starting as a ground test prototype where technologies for various systems will be tested and evolve into a flight vehicle. This paper will discuss the current SEV ECLSS design, any work contributed toward the development of the ECLSS design, and the plan to advance the ECLSS design based on the SEV vehicle and system needs.

40 CFR 86.411-78 - Maintenance instructions, vehicle purchaser.

Code of Federal Regulations, 2010 CFR

2010-07-01

... of emission control systems. (2) Such instructions shall be in the English language and in clear, and... functioning of emission control systems for the vehicle's useful life. (1) Such instructions shall be provided...

Comparative analysis of the operation efficiency of the continuous and relay control systems of a multi-axle wheeled vehicle suspension

NASA Astrophysics Data System (ADS)

Zhileykin, M. M.; Kotiev, G. O.; Nagatsev, M. V.

2018-02-01

In order to improve the efficiency of the multi-axle wheeled vehicles (MWV) automotive engineers are increasing their cruising speed. One of the promising ways to improve ride comfort of the MWV is the development of the dynamic active suspension systems and control laws for such systems. Here, by the dynamic control systems we mean the systems operating in real time mode and using current (instantaneous) values of the state variables. The aim of the work is to develop the MWV suspension optimal control laws that would reduce vibrations on the driver’s seat at kinematic excitation. The authors have developed the optimal control laws for damping the oscillations of the MWV body. The developed laws allow reduction of the vibrations on the driver’s seat and increase in the maximum speed of the vehicle. The laws are characterized in that they allow generating the control inputs in real time mode. The authors have demonstrated the efficiency of the proposed control laws by means of mathematical simulation of the MWV driving over unpaved road with kinematic excitation. The proposed optimal control laws can be used in the MWV suspension control systems with magnetorheological shock absorbers or controlled hydropneumatic springs. Further evolution of the research line can be the development of the energy-efficient MWV suspension control systems with continuous control input on the vehicle body.

Design and Stability of an On-Orbit Attitude Control System Using Reaction Control Thrusters

NASA Technical Reports Server (NTRS)

Hall, Robert A.; Hough, Steven; Orphee, Carolina; Clements, Keith

2016-01-01

NASA is providing preliminary design and requirements for the Space Launch System Exploration Upper Stage (EUS). The EUS will provide upper stage capability for vehicle ascent as well as on-orbit control capability. Requirements include performance of on-orbit burn to provide Orion vehicle with escape velocity. On-orbit attitude control is accommodated by a on-off Reaction Control System (RCS). Paper provides overview of approaches for design and stability of an attitude control system using a RCS.

B-52 control configured vehicles: Flight test results

NASA Technical Reports Server (NTRS)

Arnold, J. I.; Murphy, F. B.

1976-01-01

Recently completed B-52 Control Configured Vehicles (CCV) flight testing is summarized, and results are compared to analytical predictions. Results are presented for five CCV system concepts: ride control, maneuver load control, flutter mode control, augmented stability, and fatigue reduction. Test results confirm analytical predictions and show that CCV system concepts achieve performance goals when operated individually or collectively.

Development of Anti-lock Braking System (ABS) for Vehicles Braking

NASA Astrophysics Data System (ADS)

Minh, Vu Trieu; Oamen, Godwin; Vassiljeva, Kristina; Teder, Leo

2016-11-01

This paper develops a real laboratory of anti-lock braking system (ABS) for vehicle and conducts real experiments to verify the ability of this ABS to prevent the vehicle wheel from being locked while braking. Two controllers of PID and fuzzy logic are tested for analysis and comparison. This ABS laboratory is designed for bachelor and master students to simulate and analyze performances of ABS with different control techniques on various roads and load conditions. This paper provides educational theories and practices on the design of control for system dynamics.

Intelligent Hybrid Vehicle Power Control. Part 2. Online Intelligent Energy Management

DTIC Science & Technology

2012-06-30

IEC_HEV for vehicle energy optimization. IEC_HEV, the Figure 1. Power Split HEV configuration into VSC 5 online energy control is a component...in the Vehicle System Controller ( VSC ). The VSC for this configuration must manage the powertrain control in order to maintain a proper level of...charge in the battery. However, since two power sources are available to propel the vehicle, the VSC in this configuration has the additional

Operator Informational Needs for Multiple Autonomous Small Vehicles

NASA Technical Reports Server (NTRS)

Trujillo, Anna C.; Fan, Henry; Cross, Charles D.; Hempley, Lucas E.; Cichella, Venanzio; Puig-Navarro, Javier; Mehdi, Syed Bilal

2015-01-01

With the anticipated explosion of small unmanned aerial vehicles, it is highly likely that operators will be controlling fleets of autonomous vehicles. To fulfill the promise of autonomy, vehicle operators will not be concerned with manual control of the vehicle; instead, they will deal with the overall mission. Furthermore, the one operator to many vehicles is becoming a constant meme with various industries including package delivery, search and rescue, and utility companies. In order for an operator to concurrently control several vehicles, his station must look and behave very differently than the current ground control station instantiations. Furthermore, the vehicle will have to be much more autonomous, especially during non-normal operations, in order to accommodate the knowledge deficit or the information overload of the operator in charge of several vehicles. The expected usage increase of small drones requires presenting the operational information generated by a fleet of heterogeneous autonomous agents to an operator. NASA Langley Research Center's Autonomy Incubator has brought together researchers in various disciplines including controls, trajectory planning, systems engineering, and human factors to develop an integrated system to study autonomy issues. The initial human factors effort is focusing on mission displays that would give an operator the overall status of all autonomous agents involved in the current mission. This paper will discuss the specifics of the mission displays for operators controlling several vehicles.

Improved transistorized AC motor controller for battery powered urban electric passenger vehicles

NASA Technical Reports Server (NTRS)

Peak, S. C.

1982-01-01

An ac motor controller for an induction motor electric vehicle drive system was designed, fabricated, tested, evaluated, and cost analyzed. A vehicle performance analysis was done to establish the vehicle tractive effort-speed requirements. These requirements were then converted into a set of ac motor and ac controller requirements. The power inverter is a three-phase bridge using power Darlington transistors. The induction motor was optimized for use with an inverter power source. The drive system has a constant torque output to base motor speed and a constant horsepower output to maximum speed. A gear shifting transmission is not required. The ac controller was scaled from the base 20 hp (41 hp peak) at 108 volts dec to an expanded horsepower and battery voltage range. Motor reversal was accomplished by electronic reversal of the inverter phase sequence. The ac controller can also be used as a boost chopper battery charger. The drive system was tested on a dynamometer and results are presented. The current-controlled pulse width modulation control scheme yielded improved motor current waveforms. The ac controller favors a higher system voltage.

Impact of digital systems technology on man-vehicle systems research

NASA Technical Reports Server (NTRS)

Bretoi, R. N.

1983-01-01

The present study, based on a NASA technology assessment, examines the effect of new technologies on trends in crew-systems design and their implications from the vantage point of man-vehicle systems research. Those technologies that are most relevant to future trends in crew-systems design are considered along with problems associated with the introduction of rapidly changing technologies and systems concepts from a human-factors point of view. The technologies discussed include information processing, displays and controls, flight and propulsion control, flight and systems management, air traffic control, training and simulation, and flight and resource management. The historical evolution of cockpit systems design is used to illustrate past and possible future trends in man-vehicle systems research.

Crew Exploration Vehicle Environmental Control and Life Support Development Status

NASA Technical Reports Server (NTRS)

Lewis, John F.; Barido, Richard A.; Cross, Cynthia D.; Carrasquillo, Robyn; Rains, George Edward

2011-01-01

The Orion Crew Exploration Vehicle (CEV) is the first crew transport vehicle to be developed by the National Aeronautics and Space Administration (NASA) in the last thirty years. The CEV is currently being developed to transport the crew safely from the Earth to the Moon and back again. This year, the vehicle focused on building the Orion Flight Test 1 (OFT1) vehicle to be launched in 2013. The development of the Orion Environmental Control and Life Support (ECLS) System, focused on the components which are on OFT1 which includes pressure control and active thermal control systems, is progressing through the design stage into manufacturing. Additional development work was done to keep the remaining component progressing towards implementation. This paper covers the Orion ECLS development from April 2010 to April 2011.

Automated mixed traffic transit vehicle microprocessor controller

NASA Technical Reports Server (NTRS)

Marks, R. A.; Cassell, P.; Johnston, A. R.

1981-01-01

An improved Automated Mixed Traffic Vehicle (AMTV) speed control system employing a microprocessor and transistor chopper motor current controller is described and its performance is presented in terms of velocity versus time curves. The on board computer hardware and software systems are described as is the software development system. All of the programming used in this controller was implemented using FORTRAN. This microprocessor controller made possible a number of safety features and improved the comfort associated with starting and shopping. In addition, most of the vehicle's performance characteristics can be altered by simple program parameter changes. A failure analysis of the microprocessor controller was generated and the results are included. Flow diagrams for the speed control algorithms and complete FORTRAN code listings are also included.

Control of NASA's Space Launch System

NASA Technical Reports Server (NTRS)

VanZwieten, Tannen S.

2014-01-01

The flight control system for the NASA Space Launch System (SLS) employs a control architecture that evolved from Saturn, Shuttle & Ares I-X while also incorporating modern enhancements. This control system, baselined for the first unmanned launch, has been verified and successfully flight-tested on the Ares I-X rocket and an F/A-18 aircraft. The development of the launch vehicle itself came on the heels of the Space Shuttle retirement in 2011, and will deliver more payload to orbit and produce more thrust than any other vehicle, past or present, opening the way to new frontiers of space exploration as it carries the Orion crew vehicle, equipment, and experiments into new territories. The initial 70 metric ton vehicle consists of four RS-25 core stage engines from the Space Shuttle inventory, two 5- segment solid rocket boosters which are advanced versions of the Space Shuttle boosters, and a core stage that resembles the External Tank and carries the liquid propellant while also serving as the vehicle's structural backbone. Just above SLS' core stage is the Interim Cryogenic Propulsion Stage (ICPS), based upon the payload motor used by the Delta IV Evolved Expendable Launch Vehicle (EELV).

Systems and methods for vehicle speed management

DOE Office of Scientific and Technical Information (OSTI.GOV)

Sujan, Vivek Anand; Vajapeyazula, Phani; Follen, Kenneth

Controlling a speed of a vehicle based on at least a portion of a route grade and a route distance divided into a plurality of route sections, each including at least one of a section grade and section length. Controlling the speed of the vehicle is further based on determining a cruise control speed mode for the vehicle for each of the plurality of route sections and determining a speed reference command of the vehicle based on at least one of the cruise control speed mode, the section length, the section grade, and a current speed.

Communicating with residential electrical devices via a vehicle telematics unit

DOE Office of Scientific and Technical Information (OSTI.GOV)

Roth, Rebecca C.; Pebbles, Paul H.

A method of communicating with residential electrical devices using a vehicle telematics unit includes receiving information identifying a residential electrical device to control; displaying in a vehicle one or more controlled features of the identified residential electrical device; receiving from a vehicle occupant a selection of the displayed controlled features of the residential electrical device; sending an instruction from the vehicle telematics unit to the residential electrical device via a wireless carrier system in response to the received selection; and controlling the residential electrical device using the sent instruction.

Fault-tolerant cooperative output regulation for multi-vehicle systems with sensor faults

NASA Astrophysics Data System (ADS)

Qin, Liguo; He, Xiao; Zhou, D. H.

2017-10-01

This paper presents a unified framework of fault diagnosis and fault-tolerant cooperative output regulation (FTCOR) for a linear discrete-time multi-vehicle system with sensor faults. The FTCOR control law is designed through three steps. A cooperative output regulation (COR) controller is designed based on the internal mode principle when there are no sensor faults. A sufficient condition on the existence of the COR controller is given based on the discrete-time algebraic Riccati equation (DARE). Then, a decentralised fault diagnosis scheme is designed to cope with sensor faults occurring in followers. A residual generator is developed to detect sensor faults of each follower, and a bank of fault-matching estimators are proposed to isolate and estimate sensor faults of each follower. Unlike the current distributed fault diagnosis for multi-vehicle systems, the presented decentralised fault diagnosis scheme in each vehicle reduces the communication and computation load by only using the information of the vehicle. By combing the sensor fault estimation and the COR control law, an FTCOR controller is proposed. Finally, the simulation results demonstrate the effectiveness of the FTCOR controller.

A study of flight control requirements for advanced, winged, earth-to-orbit vehicles with far-aft center-of-gravity locations

NASA Technical Reports Server (NTRS)

Hepler, A. K.; Zeck, H.; Walker, W. H.; Polack, A.

1982-01-01

Control requirements of Controlled Configured Design Approach vehicles with far-aft center of gravity locations are studied. The baseline system investigated is a fully reusable vertical takeoff/horizontal landing single stage-to-orbit vehicle with mission requirements similar to that of the space shuttle vehicle. Evaluations were made to determine dynamic stability boundaries, time responses, trim control, operational center-of-gravity limits, and flight control subsystem design requirements. Study tasks included a baseline vehicle analysis, an aft center of gravity study, a payload size study, and a technology assessment.

Aerospace Vehicle Design, Spacecraft Section. Volume 3

NASA Technical Reports Server (NTRS)

1988-01-01

Research results are presented for the following groups: Project Mars Airplane Vehicle and Reconnaissance Instrument Carrier (MAVRIC), ACME, ARES, Project ACRONYM, Mars Aircraft Recepticle with Technical Instruments, Aerobraking, and Navigation (MARTIAN), and NOMADS. Each project is described by the following areas of focus: mission planning and costs; aerobraking systems; structures and thermal control systems; attitude and articulation control systems; comman and data control systems; science instrumentation; and power and propulsion systems.

Traffic signal control enhancements under vehicle infrastructure integration systems.

DOT National Transportation Integrated Search

2011-12-01

Most current traffic signal systems are operated using a very archaic traffic-detection simple binary : logic (vehicle presence/non presence information). The logic was originally developed to provide input for old : electro-mechanical controllers th...

A Feasibility Study on the Control of a Generic Air Vehicle Using Control Moment Gyros

NASA Technical Reports Server (NTRS)

Lim, Kyong B.; Moerder, Daniel D.

2006-01-01

This paper examines feasibility and performance issues in using Control Moment Gyroscopes (CMGs) to control the attitude of a fixed-wing aircraft. The paper describes a control system structure that permits allocating control authority and bandwidth between a CMG system and conventional aerodynamic control surfaces to stabilize a vehicle with neutral aerodynamic stability. A simulation study explores the interplay between aerodynamic and CMG effects, and indicates desirable physical characteristics for a CMG system to be used for aircraft attitude control.

Research flight-control system development for the F-18 high alpha research vehicle

NASA Technical Reports Server (NTRS)

Pahle, Joseph W.; Powers, Bruce; Regenie, Victoria; Chacon, Vince; Degroote, Steve; Murnyak, Steven

1991-01-01

The F-18 high alpha research vehicle was recently modified by adding a thrust vectoring control system. A key element in the modification was the development of a research flight control system integrated with the basic F-18 flight control system. Discussed here are design requirements, system development, and research utility of the resulting configuration as an embedded system for flight research in the high angle of attack regime. Particular emphasis is given to control system modifications and control law features required for high angle of attack flight. Simulation results are used to illustrate some of the thrust vectoring control system capabilities and predicted maneuvering improvements.

X-33 Attitude Control Using the XRS-2200 Linear Aerospike Engine

NASA Technical Reports Server (NTRS)

Hall, Charles E.; Panossian, Hagop V.

1999-01-01

The Vehicle Control Systems Team at Marshall Space Flight Center, Structures and Dynamics Laboratory, Guidance and Control Systems Division is designing, under a cooperative agreement with Lockheed Martin Skunkworks, the Ascent, Transition, and Entry flight attitude control systems for the X-33 experimental vehicle. Test flights, while suborbital, will achieve sufficient altitudes and Mach numbers to test Single Stage To Orbit, Reusable Launch Vehicle technologies. Ascent flight control phase, the focus of this paper, begins at liftoff and ends at linear aerospike main engine cutoff (MECO). The X-33 attitude control system design is confronted by a myriad of design challenges: a short design cycle, the X-33 incremental test philosophy, the concurrent design philosophy chosen for the X-33 program, and the fact that the attitude control system design is, as usual, closely linked to many other subsystems and must deal with constraints and requirements from these subsystems. Additionally, however, and of special interest, the use of the linear aerospike engine is a departure from the gimbaled engines traditionally used for thrust vector control (TVC) in launch vehicles and poses certain design challenges. This paper discusses the unique problem of designing the X-33 attitude control system with the linear aerospike engine, requirements development, modeling and analyses that verify the design.

A study on special test stand of automatic and manual descent control in presence of simulated g-load effect

NASA Astrophysics Data System (ADS)

Glazkov, Yury; Artjuchin, Yury; Astakhov, Alexander; Vas'kov, Alexander; Malyshev, Veniamin; Mitroshin, Edward; Glinsky, Valery; Moiseenko, Vasily; Makovlev, Vyacheslav

The development of aircraft-type reusable space vehicles (RSV) involves the problem of complete compatibility of automatic, director and manual control. Task decision is complicated, in particular, due to considerable quantitative and qualitative changes of vehicle dynamic characteristics, little stability margins (and even of unstability) of the RSV, and stringent requirements to control accuracy at some flight phases. Besides, during control a pilot is affected by g-loads which hamper motor activity and deteriorate its accuracy, alter the functional status of the visual analyser, and influence higher nervous activity. A study of g-load effects on the control efficiency, especially in manual and director modes, is of primary importance. The main tools for study of a rational selection of manual and director vehicle control systems and as an aid in formulating recommendations for optimum crew-automatic control system interactions are special complex and functional flight simulator test stands. The proposed simulator stand includes a powerful digital computer complex combined with the control system of the centrifuge. The interior of a pilot's vehicle cabin is imitated. A situation image system, pyscho-physical monitoring system, physician, centrifuge operator, and instructor stations are linked with the test stand.

Vehicle rollover risk and electronic stability control systems.

PubMed

MacLennan, P A; Marshall, T; Griffin, R; Purcell, M; McGwin, G; Rue, L W

2008-06-01

Electronic stability control (ESC) systems were developed to reduce motor vehicle collisions (MVCs) caused by loss of control. Introduced in Europe in 1995 and in the USA in 1996, ESC is designed to improve vehicle lateral stability by electronically detecting and automatically assisting drivers in unfavorable situations. To examine the relationship between vehicle rollover risk and presence of ESC using a large national database of MVCs. A retrospective cohort study for the period 1995 through 2006 was carried out using data obtained from the National Automotive Sampling System General Estimates System. All passenger cars and sport utility vehicles (SUVs)/vans of model year 1996 and later were eligible. Vehicle ESC (unavailable, optional, standard) was determined on the basis of make, model, and model year. Risk ratios (RRs) and 95% CIs were calculated to compare rollover risk by vehicle ESC group. For all crashes, vehicles equipped with standard ESC had decreased risk of rollover (RR = 0.62, 95% CI 0.50 to 0.77) compared with vehicles with ESC unavailable. The association was consistent for single-vehicle MVCs (RR = 0.61, 95% CI 0.46 to 0.82); passenger cars had decreased rollover risk (RR = 0.77, 95% CI 0.52 to 1.12), but SUVs/vans had a more dramatically decreased risk (RR = 0.40, 95% CI 0.26 to 0.61). This study supports previous results showing ESC to be effective in reducing the risk of rollover. ESC is more effective in SUVs/vans for rollovers related to single-vehicle MVCs.

Integrated Vehicle Ground Vibration Testing in Support of Launch Vehicle Loads and Controls Analysis

NASA Technical Reports Server (NTRS)

Askins, Bruce R.; Davis, Susan R.; Salyer, Blaine H.; Tuma, Margaret L.

2008-01-01

All structural systems possess a basic set of physical characteristics unique to that system. These unique physical characteristics include items such as mass distribution and damping. When specified, they allow engineers to understand and predict how a structural system behaves under given loading conditions and different methods of control. These physical properties of launch vehicles may be predicted by analysis or measured by certain types of tests. Generally, these properties are predicted by analysis during the design phase of a launch vehicle and then verified by testing before the vehicle becomes operational. A ground vibration test (GVT) is intended to measure by test the fundamental dynamic characteristics of launch vehicles during various phases of flight. During the series of tests, properties such as natural frequencies, mode shapes, and transfer functions are measured directly. These data will then be used to calibrate loads and control systems analysis models for verifying analyses of the launch vehicle. NASA manned launch vehicles have undergone ground vibration testing leading to the development of successful launch vehicles. A GVT was not performed on the inaugural launch of the unmanned Delta III which was lost during launch. Subsequent analyses indicated had a GVT been performed, it would have identified instability issues avoiding loss of the vehicle. This discussion will address GVT planning, set-up, execution and analyses, for the Saturn and Shuttle programs, and will also focus on the current and on-going planning for the Ares I and V Integrated Vehicle Ground Vibration Test (IVGVT).

An Alternative for Emergency Preemption of Traffic Lights

NASA Technical Reports Server (NTRS)

Foster, Conrad; Bachelder, Aaron

2006-01-01

An electronic communication-and-control system has been developed as a prototype of advanced means of automatically modifying the switching of traffic lights to give priority to emergency vehicles. This system could be used alternatively or in addition to other emergency traffic-light-preemption systems, including a variety of systems now in use as well as two proposed systems described in "Systems Would Preempt Traffic Lights for Emergency Vehicles" (NPO-30573), NASA Tech Briefs, Vol. 28, No. 10 (October 2004), page 36. Unlike those prior systems that depend on detection of sounds and/or lights emitted by emergency vehicles, this system is not subject to severe range limitations. This system can be retrofitted into any pre-existing traffic-light-control system, without need to modify that system other than to make a minimal number of wire connections between the two systems. This system comprises several subsystems, including a transponder and interface circuitry on each emergency vehicle, a monitoring and control unit at each intersection equipped with traffic lights, and a wide-area two-way radio communication network that connects the emergency vehicles and intersection units. Computers in the various intersections and vehicle units run special-purpose software that implements the traffic- light-preemption scheme. The operations of the intersection and vehicle units are synchronized by use of Global Positioning System (GPS) timing signals. The transponder in each vehicle estimates its own position and velocity by use of GPS signals, deductive ("dead") reckoning, data from the onboard diagnostic (OBD) computer of the vehicle, and/or triangulation of beacon signals. When the operator of an emergency vehicle turns on its flashing lights and sirens in response to a request for an emergency response, the transponder unit goes into action, reading the OBD data to determine speed and acceleration, and reading and gathering further navigational data as described above. The position, velocity, and acceleration data are combined with vehicle-identification data in a prescribed format, and the resulting set of data is transmitted to the intersections within communication range of the transponder.

Architecture of a platform for hardware-in-the-loop simulation of flying vehicle control systems

NASA Astrophysics Data System (ADS)

Belokon', S. A.; Zolotukhin, Yu. N.; Filippov, M. N.

2017-07-01

A hardware-software platform is presented, which is designed for the development and hardware-in-the-loop simulation of flying vehicle control systems. This platform ensures the construction of the mathematical model of the plant, development of algorithms and software for onboard radioelectronic equipment and ground control station, and visualization of the three-dimensional model of the vehicle and external environment of the cockpit in the simulator training mode.

Thermal Control System Development to Support the Crew Exploration Vehicle and Lunar Surface Access Module

NASA Technical Reports Server (NTRS)

Anderson, Molly; Westheimer, David

2006-01-01

All space vehicles or habitats require thermal management to maintain a safe and operational environment for both crew and hardware. Active Thermal Control Systems (ATCS) perform the functions of acquiring heat from both crew and hardware within a vehicle, transporting that heat throughout the vehicle, and finally rejecting that energy into space. Almost all of the energy used in a space vehicle eventually turns into heat, which must be rejected in order to maintain an energy balance and temperature control of the vehicle. For crewed vehicles, Active Thermal Control Systems are pumped fluid loops that are made up of components designed to perform these functions. NASA has recently evaluated all of the agency s technology development work and identified key areas that must be addressed to aid in the successful development of a Crew Exploration Vehicle (CEV) and a Lunar Surface Access Module (LSAM). The technologies that have been selected and are currently under development include: fluids that enable single loop ATCS architectures, a gravity insensitive vapor compression cycle heat pump, a sublimator with reduced sensitivity to feedwater contamination, an evaporative heat sink that can operate in multiple ambient pressure environments, a compact spray evaporator, and lightweight radiators that take advantage of carbon composites and advanced optical coatings.

Modeling, Simulation, and Control of a Solar Electric Propulsion Vehicle in Near-Earth Vicinity Including Solar Array Degradation

NASA Technical Reports Server (NTRS)

Witzberger, Kevin (Inventor); Hojnicki, Jeffery (Inventor); Manzella, David (Inventor)

2016-01-01

Modeling and control software that integrates the complexities of solar array models, a space environment, and an electric propulsion system into a rigid body vehicle simulation and control model is provided. A rigid body vehicle simulation of a solar electric propulsion (SEP) vehicle may be created using at least one solar array model, at least one model of a space environment, and at least one model of a SEP propulsion system. Power availability and thrust profiles may be determined based on the rigid body vehicle simulation as the SEP vehicle transitions from a low Earth orbit (LEO) to a higher orbit or trajectory. The power availability and thrust profiles may be displayed such that a user can use the displayed power availability and thrust profiles to determine design parameters for an SEP vehicle mission.

Network based management for multiplexed electric vehicle charging

DOEpatents

Gadh, Rajit; Chung, Ching Yen; Qui, Li

2017-04-11

A system for multiplexing charging of electric vehicles, comprising a server coupled to a plurality of charging control modules over a network. Each of said charging modules being connected to a voltage source such that each charging control module is configured to regulate distribution of voltage from the voltage source to an electric vehicle coupled to the charging control module. Data collection and control software is provided on the server for identifying a plurality of electric vehicles coupled to the plurality of charging control modules and selectively distributing charging of the plurality of charging control modules to multiplex distribution of voltage to the plurality of electric vehicles.

Machine & electrical double control air dryer for vehicle air braking system

NASA Astrophysics Data System (ADS)

Zhang, Xuan; Yang, Liu; Wang, Xian Yan; Tan, Xiao Yan; Wang, Wei

2017-09-01

As is known to all, a vehicle air brake system, in which usually contains moisture. To solve the problem, it is common to use air dryer to dry compressed air effectively and completely remove the moisture and oil of braking system. However, the existing air dryer is not suitable for all commercial vehicles. According to the operational status of the new energy vehicles in the initial operating period, the structure design principle of the machine & electric control air dryer is expounded from the aspects of the structure and operating principle, research & development process.

A Simulation Base Investigation of High Latency Space Systems Operations

NASA Technical Reports Server (NTRS)

Li, Zu Qun; Crues, Edwin Z.; Bielski, Paul; Moore, Michael

2017-01-01

NASA's human space program has developed considerable experience with near Earth space operations. Although NASA has experience with deep space robotic missions, NASA has little substantive experience with human deep space operations. Even in the Apollo program, the missions lasted only a few weeks and the communication latencies were on the order of seconds. Human missions beyond the relatively close confines of the Earth-Moon system will involve missions with durations measured in months and communications latencies measured in minutes. To minimize crew risk and to maximize mission success, NASA needs to develop a better understanding of the implications of these types of mission durations and communication latencies on vehicle design, mission design and flight controller interaction with the crew. To begin to address these needs, NASA performed a study using a physics-based subsystem simulation to investigate the interactions between spacecraft crew and a ground-based mission control center for vehicle subsystem operations across long communication delays. The simulation, built with a subsystem modeling tool developed at NASA's Johnson Space Center, models the life support system of a Mars transit vehicle. The simulation contains models of the cabin atmosphere and pressure control system, electrical power system, drinking and waste water systems, internal and external thermal control systems, and crew metabolic functions. The simulation has three interfaces: 1) a real-time crew interface that can be use to monitor and control the vehicle subsystems; 2) a mission control center interface with data transport delays up to 15 minutes each way; 3) a real-time simulation test conductor interface that can be use to insert subsystem malfunctions and observe the interactions between the crew, ground, and simulated vehicle. The study was conducted at the 21st NASA Extreme Environment Mission Operations (NEEMO) mission between July 18th and Aug 3rd of year 2016. The NEEMO mission provides ideal conditions for this study with crew in the loop, an active control center, and real-time flow of high latency communications and data. NEEMO crew and ground support will work through procedures including activation of the transit vehicle power system, opening the hatch between the transit vehicle and a Mars ascent vehicle, transferring simulated crewmembers between vehicles, overcoming subsystem malfunctions, sending simulated crewmember on extra-vehicular activities, and other housekeeping activities. This study is enhancing the understanding of high latency operations and the advantages and disadvantages of different communication methods. It is also providing results that will help improve the design of simulation interfaces and inform the design of Mars transit vehicles.

Robust Stability and Control of Multi-Body Ground Vehicles with Uncertain Dynamics and Failures

DTIC Science & Technology

2010-01-01

and N. Zhang, 2008. “Robust stability control of vehicle rollover subject to actuator time delay”. Proc. IMechE Part I: J. of systems and control ...Dynamic Systems and Control Conference, Boston, MA, Sept 2010 R.K. Yedavalli,”Robust Stability of Linear Interval Parameter Matrix Family Problem...for control coupled output regulation for a class of systems is presented. In section 2.1.7, the control design algorithm developed in section

A new controller for battery-powered electric vehicles

NASA Technical Reports Server (NTRS)

Belsterling, C. A.; Stone, J.

1980-01-01

This paper describes the development, under a NASA/DOE contract, of a new concept for efficient and reliable control of battery-powered vehicles. It avoids the detrimental effects of pulsed-power controllers like the SCR 'chopper' by using rotating machines to meter continuous currents to the traction motor. The concept is validated in a proof-of-principle demonstration system and a complete vehicle is simulated on an analog computer. Test results show exceptional promise for a full-scale system. Optimum control strategies to minimize controller weight are developed by means of the simulated vehicle. The design for an Engineering Model is then prepared in the form of a practical, compact two-bearing package with forced air cooling. Predicted performance is outstanding, with controller efficiency of over 90% at high speed.

Applicability of the control configured design approach to advanced earth orbital transportation systems

NASA Technical Reports Server (NTRS)

Hepler, A. K.; Zeck, H.; Walker, W. H.; Shafer, D. E.

1978-01-01

The applicability of the control configured design approach (CCV) to advanced earth orbital transportation systems was studied. The baseline system investigated was fully reusable vertical take-off/horizontal landing single-stage-to-orbit vehicle and had mission requirements similar to the space shuttle orbiter. Technical analyses were made to determine aerodynamic, flight control and subsystem design characteristics. Figures of merit were assessed on vehicle dry weight and orbital payload. The results indicated that the major parameters for CCV designs are hypersonic trim, aft center of gravity, and control surface heating. Optimized CCV designs can be controllable and provide substantial payload gains over conventional non-CCV design vertical take-off vehicles.

Modeling hydraulic regenerative hybrid vehicles using AMESim and Matlab/Simulink

NASA Astrophysics Data System (ADS)

Lynn, Alfred; Smid, Edzko; Eshraghi, Moji; Caldwell, Niall; Woody, Dan

2005-05-01

This paper presents the overview of the simulation modeling of a hydraulic system with regenerative braking used to improve vehicle emissions and fuel economy. Two simulation software packages were used together to enhance the simulation capability for fuel economy results and development of vehicle and hybrid control strategy. AMESim, a hydraulic simulation software package modeled the complex hydraulic circuit and component hardware and was interlinked with a Matlab/Simulink model of the vehicle, engine and the control strategy required to operate the vehicle and the hydraulic hybrid system through various North American and European drive cycles.

Hypersonic vehicle control law development using H(infinity) and micron-synthesis

NASA Technical Reports Server (NTRS)

Gregory, Irene M.; Mcminn, John D.; Shaughnessy, John D.; Chowdhry, Rajiv S.

1993-01-01

Hypersonic vehicle control law development using H(infinity) and mu-synthesis is discussed. Airbreathing SSTO vehicles has a mutli-faceted mission that includes orbital operations, as well as re-entry and descent culminating in horizontal landing. However, the most challenging part of the operations is the ascent to orbit. The airbreathing propulsion requires lengthy atmospheric flight that may last as long as 30 minutes and take the vehicle half way around the globe. The vehicles's ascent is characterized by tight payload to orbit margins which translate into minimum fuel orbit as the performance criteria. Issues discussed include: SSTO airbreathing vehicle issues; control system performance requirements; robust control law framework; H(infinity) controller frequency analysis; and mu controller frequency analysis.

Steady-state and dynamic evaluation of the electric propulsion system test bed vehicle on a road load simulator

NASA Technical Reports Server (NTRS)

Dustin, M. O.

1983-01-01

The propulsion system of the Lewis Research Center's electric propulsion system test bed vehicle was tested on the road load simulator under the DOE Electric and Hybrid Vehicle Program. This propulsion system, consisting of a series-wound dc motor controlled by an infinitely variable SCR chopper and an 84-V battery pack, is typical of those used in electric vehicles made in 1976. Steady-state tests were conducted over a wide range of differential output torques and vehicle speeds. Efficiencies of all of the components were determined. Effects of temperature and voltage variations on the motor and the effect of voltage changes on the controller were examined. Energy consumption and energy efficiency for the system were determined over the B and C driving schedules of the SAE J227a test procedure.

AERIS : Eco-Vehicle Speed Control at Signalized Intersections Using I2V Communication

DOT National Transportation Integrated Search

2012-06-01

This report concentrates on a velocity advisory tool, or decision support system, for vehicles approaching an intersection using communication capabilities between the infrastructure and vehicles. The system uses available signal change information, ...

Modelling the influence of sensory dynamics on linear and nonlinear driver steering control

NASA Astrophysics Data System (ADS)

Nash, C. J.; Cole, D. J.

2018-05-01

A recent review of the literature has indicated that sensory dynamics play an important role in the driver-vehicle steering task, motivating the design of a new driver model incorporating human sensory systems. This paper presents a full derivation of the linear driver model developed in previous work, and extends the model to control a vehicle with nonlinear tyres. Various nonlinear controllers and state estimators are compared with different approximations of the true system dynamics. The model simulation time is found to increase significantly with the complexity of the controller and state estimator. In general the more complex controllers perform best, although with certain vehicle and tyre models linearised controllers perform as well as a full nonlinear optimisation. Various extended Kalman filters give similar results, although the driver's sensory dynamics reduce control performance compared with full state feedback. The new model could be used to design vehicle systems which interact more naturally and safely with a human driver.

Development of a DC propulsion system for an electric vehicle

NASA Technical Reports Server (NTRS)

Kelledes, W. L.

1984-01-01

The suitability of the Eaton automatically shifted mechanical transaxle concept for use in a near-term dc powered electric vehicle is evaluated. A prototype dc propulsion system for a passenger electric vehicle was designed, fabricated, tested, installed in a modified Mercury Lynx vehicle and track tested at the contractor's site. The system consisted of a two-axis, three-speed, automatically-shifted mechanical transaxle, 15.2 Kw rated, separately excited traction motor, and a transistorized motor controller with a single chopper providing limited armature current below motor base speed and full range field control above base speed at up to twice rated motor current. The controller utilized a microprocessor to perform motor and vehicle speed monitoring and shift sequencing by means of solenoids applying hydraulic pressure to the transaxle clutches. Bench dynamometer and track testing was performed. Track testing showed best system efficiency for steady-state cruising speeds of 65-80 Km/Hz (40-50 mph). Test results include acceleration, steady speed and SAE J227A/D cycle energy consumption, braking tests and coast down to characterize the vehicle road load.

Modeling Control Strategies and Range Impacts for Electric Vehicle Integrated Thermal Management Systems with MATLAB/Simulink

DOE Office of Scientific and Technical Information (OSTI.GOV)

Titov, Gene; Lustbader, Jason Aaron

The National Renewable Energy Laboratory's (NREL's) CoolSim MATLAB/Simulink modeling framework was used to explore control strategies for an electric vehicle combined loop system. Three system variants of increased complexity and efficiency were explored: a glycol-based positive temperature coefficient heater (PTC), PTC with power electronics and electric motor (PEEM) waste heat recovery, and PTC with PEEM waste heat recovery plus heat pump versions. Additionally, the benefit of electric motor preheating was considered. A two-level control strategy was developed where the mode selection and component control were treated separately. Only the parameters typically available by vehicle sensors were used to control themore » system. The control approach included a mode selection algorithm and controllers for the compressor speed, cabin blower flow rate, coolant flow rate, and the front-end heat exchanger coolant bypass rate. The electric motor was bypassed by the cooling circuit until its temperature exceeded the coolant inlet temperature. The impact of these thermal systems on electric vehicle range during warmup was simulated for the Urban Dynamometer Driving Schedule (UDDS) and Highway Fuel Economy Test (HWFET2X) drive cycles weighted 45%/55% respectively. A range of ambient temperatures from -20 degrees C to +20 degrees C was considered. NREL's Future Automotive Systems Technology Simulator (FASTSim) vehicle modeling tool showed up to a 10.9% improvement in range for the full system over the baseline during warmup from cold soak. The full system with preheat showed up to 17% improvement in range.« less

Cooperative Control of Distributed Autonomous Vehicles in Adversarial Environments

DTIC Science & Technology

2006-08-14

COOPERATIVE CONTROL OF DISTRIBUTED AUTONOMOUS VEHICLES IN ADVERSARIAL ENVIRONMENTS Grant #F49620–01–1–0361 Final Report Jeff Shamma Department of...CONTRACT NUMBER F49620-01-1-0361 5b. GRANT NUMBER 4. TITLE AND SUBTITLE COOPERATIVE CONTROL OF DISTRIBUTED AUTONOMOUS VEHICLES IN...single dominant language or a distribution of languages. A relation to multivehicle systems is understanding how highly autonomous vehicles on extended

Dynamics of aerospace vehicles

NASA Technical Reports Server (NTRS)

Schmidt, David K.

1991-01-01

The focus of this research was to address the modeling, including model reduction, of flexible aerospace vehicles, with special emphasis on models used in dynamic analysis and/or guidance and control system design. In the modeling, it is critical that the key aspects of the system being modeled be captured in the model. In this work, therefore, aspects of the vehicle dynamics critical to control design were important. In this regard, fundamental contributions were made in the areas of stability robustness analysis techniques, model reduction techniques, and literal approximations for key dynamic characteristics of flexible vehicles. All these areas are related. In the development of a model, approximations are always involved, so control systems designed using these models must be robust against uncertainties in these models.

Airborne Simulation of Launch Vehicle Dynamics

NASA Technical Reports Server (NTRS)

Miller, Christopher J.; Orr, Jeb S.; Hanson, Curtis E.; Gilligan, Eric T.

2015-01-01

In this paper we present a technique for approximating the short-period dynamics of an exploration-class launch vehicle during flight test with a high-performance surrogate aircraft in relatively benign endoatmospheric flight conditions. The surrogate vehicle relies upon a nonlinear dynamic inversion scheme with proportional-integral feedback to drive a subset of the aircraft states into coincidence with the states of a time-varying reference model that simulates the unstable rigid body dynamics, servodynamics, and parasitic elastic and sloshing dynamics of the launch vehicle. The surrogate aircraft flies a constant pitch rate trajectory to approximate the boost phase gravity turn ascent, and the aircraft's closed-loop bandwidth is sufficient to simulate the launch vehicle's fundamental lateral bending and sloshing modes by exciting the rigid body dynamics of the aircraft. A novel control allocation scheme is employed to utilize the aircraft's relatively fast control effectors in inducing various failure modes for the purposes of evaluating control system performance. Sufficient dynamic similarity is achieved such that the control system under evaluation is configured for the full-scale vehicle with no changes to its parameters, and pilot-control system interaction studies can be performed to characterize the effects of guidance takeover during boost. High-fidelity simulation and flight-test results are presented that demonstrate the efficacy of the design in simulating the Space Launch System (SLS) launch vehicle dynamics using the National Aeronautics and Space Administration (NASA) Armstrong Flight Research Center Fullscale Advanced Systems Testbed (FAST), a modified F/A-18 airplane (McDonnell Douglas, now The Boeing Company, Chicago, Illinois), over a range of scenarios designed to stress the SLS's Adaptive Augmenting Control (AAC) algorithm.

Slip control for LIM propelled transit vehicles

NASA Astrophysics Data System (ADS)

Wallace, A. K.; Parker, J. H.; Dawson, G. E.

1980-09-01

Short stator linear induction motors, with an iron-backed aluminum sheet reaction rail and powered by a controlled inverter, have been selected as the propulsion system for transit vehicles in an intermediate capacity system (12-20,000 pphpd). The linear induction motor is capable of adhesion independent braking and acceleration levels which permit safe, close headways. In addition, simple control is possible allowing moving block automatic train control. This paper presents a slip frequency control scheme for the LIM. Experimental results for motoring and braking obtained from a test vehicle are also presented. These values are compared with theoretical predictions.

Vehicular Integration of Wireless Power Transfer Systems and Hardware Interoperability Case Studies

DOE Office of Scientific and Technical Information (OSTI.GOV)

Onar, Omer C; Campbell, Steven L; Seiber, Larry Eugene

Several wireless charging methods are under development or available as an aftermarket option in the light-duty automotive market. However, there are not a sufficient number of studies detailing the vehicle integration methods, particularly a complete vehicle integration with higher power levels. This paper presents the design, development, implementation, and vehicle integration of wireless power transfer (WPT)-based electric vehicle (EV) charging systems for various test vehicles. Before having the standards effective, it is expected that WPT technology first will be integrated as an aftermarket retrofitting approach. Inclusion of this technology on production vehicles is contingent upon the release of the internationalmore » standards. The power stages of the system are introduced with the design specifications and control systems including the active front-end rectifier with power factor correction, high frequency power inverter, high frequency isolation transformer, coupling coils, vehicle side full-bridge rectifier and filter, and the vehicle battery. The operating principles of the control, and communications, systems are presented. Aftermarket conversion approaches including the WPT on-board charger (OBC) integration, WPT CHAdeMO integration, and WPT direct battery connection scenarios are described. The experiments are carried out using the integrated vehicles and the results obtained to demonstrate the system performance including the stage-by-stage efficiencies.« less

Cooperative control of two active spacecraft during proximity operations. M.S. Thesis - MIT

NASA Technical Reports Server (NTRS)

Polutchko, Robert J.

1989-01-01

A cooperative autopilot is developed for the control of the relative attitude, relative position and absolute attitude of two maneuvering spacecraft during on orbit proximity operations. The autopilot consists of an open-loop trajectory solver which computes a nine dimensional linearized nominal state trajectory at the beginning of each maneuver and a phase space regulator which maintains the two spacecraft on the nominal trajectory during coast phases of the maneuver. A linear programming algorithm is used to perform jet selection. Simulation tests using a system of two space shuttle vehicles are performed to verify the performance of the cooperative controller and comparisons are made to a traditional passive target/active pursuit vehicle approach to proximity operations. The cooperative autopilot is shown to be able to control the two vehicle system when both the would be pursuit vehicle and the target vehicle are not completely controllable in six degrees of freedom. The cooperative controller is also shown to use as much as 37 percent less fuel and 57 percent fewer jet firings than a single pursuit vehicle during a simple docking approach maneuver.

Orion Multi Purpose Crew Vehicle Environmental Control and Life Support Development Status

NASA Technical Reports Server (NTRS)

Lewis, John F.; Barido, Richard A.; Cross, Cynthia D.; Carrasquillo, Robyn; Rains, George Edward

2012-01-01

The Orion Multi Purpose Crew Vehicle (MPCV) is the first crew transport vehicle to be developed by the National Aeronautics and Space Administration (NASA) in the last thirty years. Orion is currently being developed to transport the crew safely from the Earth beyond Earth orbit. This year, the vehicle focused on building the Exploration Flight Test 1 (EFT1) vehicle to be launched in 2014. The development of the Orion Environmental Control and Life Support (ECLS) System, focused on the components which are on EFT1 which includes pressure control and active thermal control systems, is progressing through the design stage into manufacturing. Additional development work was done to keep the remaining component progressing towards implementation for a flight tests in 2017 and in 2020. This paper covers the Orion ECLS development from April 2011 to April 2012.

Multi Purpose Crew Vehicle Environmental Control and Life Support Development Status

NASA Technical Reports Server (NTRS)

Lewis, John F.; Barido, Richard A.; Cross, Cynthia D.; Carrasquillo, Robyn; Rains, George Edward

2011-01-01

The Orion Multi Purpose Crew Vehicle (MPCV) is the first crew transport vehicle to be developed by the National Aeronautics and Space Administration (NASA) in the last thirty years. Orion is currently being developed to transport the crew safely from the Earth beyond Earth orbit. This year, the vehicle focused on building the Orion Flight Test 1 (OFT1) vehicle to be launched in 2013. The development of the Orion Environmental Control and Life Support (ECLS) System, focused on the components which are on OFT1 which includes pressure control and active thermal control systems, is progressing through the design stage into manufacturing. Additional development work was done to keep the remaining component progressing towards implementation for a flight test in 2017. This paper covers the Orion ECLS development from April 2011 to April 2012.

Signal processing and control challenges for smart vehicles

NASA Astrophysics Data System (ADS)

Zhang, Hui; Braun, Simon G.

2017-03-01

Smart phones have changed not only the mobile phone market but also our society during the past few years. Could the next potential intelligent device may be the vehicle? Judging by the visibility, in all media, of the numerous attempts to develop autonomous vehicles, this is certainly one of the logical outcomes. Smart vehicles would be equipped with an advanced operating system such that the vehicles could communicate with others, optimize the operation to reduce fuel consumption and emissions, enhance safety, or even become self-driving. These combined new features of vehicles require instrumentation and hardware developments, fast signal processing/fusion, decision making and online optimization. Meanwhile, the inevitable increasing system complexity would certainly challenges the control unit design.

Predictive Eco-Cruise Control (ECC) system : model development, modeling and potential benefits.

DOT National Transportation Integrated Search

2013-02-01

The research develops a reference model of a predictive eco-cruise control (ECC) system that intelligently modulates vehicle speed within a pre-set speed range to minimize vehicle fuel consumption levels using roadway topographic information. The stu...

Development of a Commercially Viable, Modular Autonomous Robotic Systems for Converting any Vehicle to Autonomous Control

NASA Technical Reports Server (NTRS)

Parish, David W.; Grabbe, Robert D.; Marzwell, Neville I.

1994-01-01

A Modular Autonomous Robotic System (MARS), consisting of a modular autonomous vehicle control system that can be retrofit on to any vehicle to convert it to autonomous control and support a modular payload for multiple applications is being developed. The MARS design is scalable, reconfigurable, and cost effective due to the use of modern open system architecture design methodologies, including serial control bus technology to simplify system wiring and enhance scalability. The design is augmented with modular, object oriented (C++) software implementing a hierarchy of five levels of control including teleoperated, continuous guidepath following, periodic guidepath following, absolute position autonomous navigation, and relative position autonomous navigation. The present effort is focused on producing a system that is commercially viable for routine autonomous patrolling of known, semistructured environments, like environmental monitoring of chemical and petroleum refineries, exterior physical security and surveillance, perimeter patrolling, and intrafacility transport applications.

Max Launch Abort System (MLAS) Pad Abort Test Vehicle (PATV) II Attitude Control System (ACS) Integration and Pressurization Subsystem Dynamic Random Vibration Analysis

NASA Technical Reports Server (NTRS)

Ekrami, Yasamin; Cook, Joseph S.

2011-01-01

In order to mitigate catastrophic failures on future generation space vehicles, engineers at the National Aeronautics and Space Administration have begun to integrate a novel crew abort systems that could pull a crew module away in case of an emergency at the launch pad or during ascent. The Max Launch Abort System (MLAS) is a recent test vehicle that was designed as an alternative to the baseline Orion Launch Abort System (LAS) to demonstrate the performance of a "tower-less" LAS configuration under abort conditions. The MLAS II test vehicle will execute a propulsive coast stabilization maneuver during abort to control the vehicles trajectory and thrust. To accomplish this, the spacecraft will integrate an Attitude Control System (ACS) with eight hypergolic monomethyl hydrazine liquid propulsion engines that are capable of operating in a quick pulsing mode. Two main elements of the ACS include a propellant distribution subsystem and a pressurization subsystem to regulate the flow of pressurized gas to the propellant tanks and the engines. The CAD assembly of the Attitude Control System (ACS) was configured and integrated into the Launch Abort Vehicle (LAV) design. A dynamic random vibration analysis was conducted on the Main Propulsion System (MPS) helium pressurization panels to assess the response of the panel and its components under increased gravitational acceleration loads during flight. The results indicated that the panels fundamental and natural frequencies were farther from the maximum Acceleration Spectral Density (ASD) vibrations which were in the range of 150-300 Hz. These values will direct how the components will be packaged in the vehicle to reduce the effects high gravitational loads.

Adaptive powertrain control for plugin hybrid electric vehicles

DOEpatents

Kedar-Dongarkar, Gurunath; Weslati, Feisel

2013-10-15

A powertrain control system for a plugin hybrid electric vehicle. The system comprises an adaptive charge sustaining controller; at least one internal data source connected to the adaptive charge sustaining controller; and a memory connected to the adaptive charge sustaining controller for storing data generated by the at least one internal data source. The adaptive charge sustaining controller is operable to select an operating mode of the vehicle's powertrain along a given route based on programming generated from data stored in the memory associated with that route. Further described is a method of adaptively controlling operation of a plugin hybrid electric vehicle powertrain comprising identifying a route being traveled, activating stored adaptive charge sustaining mode programming for the identified route and controlling operation of the powertrain along the identified route by selecting from a plurality of operational modes based on the stored adaptive charge sustaining mode programming.

A vehicle stability control strategy with adaptive neural network sliding mode theory based on system uncertainty approximation

NASA Astrophysics Data System (ADS)

Ji, Xuewu; He, Xiangkun; Lv, Chen; Liu, Yahui; Wu, Jian

2018-06-01

Modelling uncertainty, parameter variation and unknown external disturbance are the major concerns in the development of an advanced controller for vehicle stability at the limits of handling. Sliding mode control (SMC) method has proved to be robust against parameter variation and unknown external disturbance with satisfactory tracking performance. But modelling uncertainty, such as errors caused in model simplification, is inevitable in model-based controller design, resulting in lowered control quality. The adaptive radial basis function network (ARBFN) can effectively improve the control performance against large system uncertainty by learning to approximate arbitrary nonlinear functions and ensure the global asymptotic stability of the closed-loop system. In this paper, a novel vehicle dynamics stability control strategy is proposed using the adaptive radial basis function network sliding mode control (ARBFN-SMC) to learn system uncertainty and eliminate its adverse effects. This strategy adopts a hierarchical control structure which consists of reference model layer, yaw moment control layer, braking torque allocation layer and executive layer. Co-simulation using MATLAB/Simulink and AMESim is conducted on a verified 15-DOF nonlinear vehicle system model with the integrated-electro-hydraulic brake system (I-EHB) actuator in a Sine With Dwell manoeuvre. The simulation results show that ARBFN-SMC scheme exhibits superior stability and tracking performance in different running conditions compared with SMC scheme.

Entry Atmospheric Flight Control Authority Impacts on GN and C and Trajectory Performance for Orion Exploration Flight Test 1

NASA Technical Reports Server (NTRS)

McNamara, Luke W.

2012-01-01

One of the key design objectives of NASA's Orion Exploration Flight Test 1 (EFT-1) is to execute a guided entry trajectory demonstrating GN&C capability. The focus of this paper is the ight control authority of the vehicle throughout the atmospheric entry ight to the target landing site and its impacts on GN&C, parachute deployment, and integrated performance. The vehicle's attitude control authority is obtained from thrusting 12 Re- action Control System (RCS) engines, with four engines to control yaw, four engines to control pitch, and four engines to control roll. The static and dynamic stability derivatives of the vehicle are determined to assess the inherent aerodynamic stability. The aerodynamic moments at various locations in the entry trajectory are calculated and compared to the available torque provided by the RCS system. Interaction between the vehicle's RCS engine plumes and the aerodynamic conditions are considered to assess thruster effectiveness. This document presents an assessment of Orion's ight control authority and its effectiveness in controlling the vehicle during critical events in the atmospheric entry trajectory.

NASA Ares I Launch Vehicle Roll and Reaction Control Systems Design Status

NASA Technical Reports Server (NTRS)

Butt, Adam; Popp, Chris G.; Pitts, Hank M.; Sharp, David J.

2009-01-01

This paper provides an update of design status following the preliminary design review of NASA s Ares I first stage roll and upper stage reaction control systems. The Ares I launch vehicle has been chosen to return humans to the moon, mars, and beyond. It consists of a first stage five segment solid rocket booster and an upper stage liquid bi-propellant J-2X engine. Similar to many launch vehicles, the Ares I has reaction control systems used to provide the vehicle with three degrees of freedom stabilization during the mission. During launch, the first stage roll control system will provide the Ares I with the ability to counteract induced roll torque. After first stage booster separation, the upper stage reaction control system will provide the upper stage element with three degrees of freedom control as needed. Trade studies and design assessments conducted on the roll and reaction control systems include: propellant selection, thruster arrangement, pressurization system configuration, and system component trades. Since successful completion of the preliminary design review, work has progressed towards the critical design review with accomplishments made in the following areas: pressurant / propellant tank, thruster assembly, and other component configurations, as well as thruster module design, and waterhammer mitigation approach. Also, results from early development testing are discussed along with plans for upcoming system testing. This paper concludes by summarizing the process of down selecting to the current baseline configuration for the Ares I roll and reaction control systems.

Constellation Training Facility Support

NASA Technical Reports Server (NTRS)

Flores, Jose M.

2008-01-01

The National Aeronautics and Space Administration is developing the next set of vehicles that will take men back to the moon under the Constellation Program. The Constellation Training Facility (CxTF) is a project in development that will be used to train astronauts, instructors, and flight controllers on the operation of Constellation Program vehicles. It will also be used for procedure verification and validation of flight software and console tools. The CxTF will have simulations for the Crew Exploration Vehicle (CEV), Crew Module (CM), CEV Service Module (SM), Launch Abort System (LAS), Spacecraft Adapter (SA), Crew Launch Vehicle (CLV), Pressurized Cargo Variant CM, Pressurized Cargo Variant SM, Cargo Launch Vehicle, Earth Departure Stage (EDS), and the Lunar Surface Access Module (LSAM). The Facility will consist of part-task and full-task trainers, each with a specific set of mission training capabilities. Part task trainers will be used for focused training on a single vehicle system or set of related systems. Full task trainers will be used for training on complete vehicles and all of its subsystems. Support was provided in both software development and project planning areas of the CxTF project. Simulation software was developed for the hydraulic system of the Thrust Vector Control (TVC) of the ARES I launch vehicle. The TVC system is in charge of the actuation of the nozzle gimbals for navigation control of the upper stage of the ARES I rocket. Also, software was developed using C standards to send and receive data to and from hand controllers to be used in CxTF cockpit simulations. The hand controllers provided movement in all six rotational and translational axes. Under Project Planning & Control, support was provided to the development and maintenance of integrated schedules for both the Constellation Training Facility and Missions Operations Facilities Division. These schedules maintain communication between projects in different levels. The CxTF support provided is one that requires continuous maintenance since the project is still on initial development phases.

New approaches to enhance active steering system functionalities: preliminary results

NASA Astrophysics Data System (ADS)

Serarslan, Benan

2014-09-01

An important development of the steering systems in general is active steering systems like active front steering and steer-by-wire systems. In this paper the current functional possibilities in application of active steering systems are explored. A new approach and additional functionalities are presented that can be implemented to the active steering systems without additional hardware such as new sensors and electronic control units. Commercial active steering systems are controlling the steering angle depending on the driving situation only. This paper introduce methods for enhancing active steering system functionalities depending not only on the driving situation but also vehicle parameters like vehicle mass, tyre and road condition. In this regard, adaptation of the steering ratio as a function of above mentioned vehicle parameters is presented with examples. With some selected vehicle parameter changes, the reduction of the undesired influences on vehicle dynamics of these parameter changes has been demonstrated theoretically with simulations and with real-time driving measurements.

Canadair CL-227 Remotely Piloted Vehicle

NASA Astrophysics Data System (ADS)

Clark, Andrew S.

1983-08-01

The Canadair CL-227 is a rotary winged Remotely Piloted Vehicle (RPV) intended initially as the air-vehicle for a medium range battlefield surveillance and target acquisition system. The concept on which this vehicle is based brings together in-house expertise as a designer and manufacturer of surveillance drones (AN-USD-50l -MIDGE-) with experience in rigid rotor technology from the CL-84 tilt wing VTOL program. The vehicle is essentially modular in design with a power module containing the engine, fuel and related systems, a rotor module containing the two counter-rotating rotors and control actuators, and a control module containing the autopilot, data link and sensor system. The vehicle is a true RPV (as opposed to a drone) as it is flown in real time by an operator on the ground and requires relatively little skill to pilot.

Robust, Practical Adaptive Control for Launch Vehicles

NASA Technical Reports Server (NTRS)

Orr, Jeb. S.; VanZwieten, Tannen S.

2012-01-01

A modern mechanization of a classical adaptive control concept is presented with an application to launch vehicle attitude control systems. Due to a rigorous flight certification environment, many adaptive control concepts are infeasible when applied to high-risk aerospace systems; methods of stability analysis are either intractable for high complexity models or cannot be reconciled in light of classical requirements. Furthermore, many adaptive techniques appearing in the literature are not suitable for application to conditionally stable systems with complex flexible-body dynamics, as is often the case with launch vehicles. The present technique is a multiplicative forward loop gain adaptive law similar to that used for the NASA X-15 flight research vehicle. In digital implementation with several novel features, it is well-suited to application on aerodynamically unstable launch vehicles with thrust vector control via augmentation of the baseline attitude/attitude-rate feedback control scheme. The approach is compatible with standard design features of autopilots for launch vehicles, including phase stabilization of lateral bending and slosh via linear filters. In addition, the method of assessing flight control stability via classical gain and phase margins is not affected under reasonable assumptions. The algorithm s ability to recover from certain unstable operating regimes can in fact be understood in terms of frequency-domain criteria. Finally, simulation results are presented that confirm the ability of the algorithm to improve performance and robustness in realistic failure scenarios.

Software control architecture for autonomous vehicles

NASA Astrophysics Data System (ADS)

Nelson, Michael L.; DeAnda, Juan R.; Fox, Richard K.; Meng, Xiannong

1999-07-01

The Strategic-Tactical-Execution Software Control Architecture (STESCA) is a tri-level approach to controlling autonomous vehicles. Using an object-oriented approach, STESCA has been developed as a generalization of the Rational Behavior Model (RBM). STESCA was initially implemented for the Phoenix Autonomous Underwater Vehicle (Naval Postgraduate School -- Monterey, CA), and is currently being implemented for the Pioneer AT land-based wheeled vehicle. The goals of STESCA are twofold. First is to create a generic framework to simplify the process of creating a software control architecture for autonomous vehicles of any type. Second is to allow for mission specification system by 'anyone' with minimal training to control the overall vehicle functionality. This paper describes the prototype implementation of STESCA for the Pioneer AT.

Run-off-road and recovery - state estimation and vehicle control strategies

NASA Astrophysics Data System (ADS)

Freeman, P.; Wagner, J.; Alexander, K.

2016-09-01

Despite many advances in vehicle safety technology, traffic fatalities remain a devastating burden on society. With over two-thirds of all fatal single-vehicle crashes occurring off the roadway, run-off-road (ROR) crashes have become the focus of much roadway safety research. Current countermeasures, including roadway infrastructure modifications and some on-board vehicle safety systems, remain limited in their approach as they do not directly address the critical factor of driver behaviour. It has been shown that ROR crashes are often the result of poor driver performance leading up to the crash. In this study, the performance of two control algorithms, sliding control and linear quadratic control, was investigated for use in an autonomous ROR vehicle recovery system. The two controllers were simulated amongst a variety of ROR conditions where typical driver performance was inadequate to safely operate the vehicle. The sliding controller recovered the fastest within the nominal conditions but exhibited large variability in performance amongst the more extreme ROR scenarios. Despite some small sacrifices in lateral error and yaw rate, the linear quadratic controller demonstrated a higher level of consistency and stability amongst the various conditions examined. Overall, the linear quadratic controller recovered the vehicle 25% faster than the sliding controller while using 70% less steering, which combined with its robust performance, indicates its high potential as an autonomous ROR countermeasure.

Propulsion System Airframe Integration Issues and Aerodynamic Database Development for the Hyper-X Flight Research Vehicle

NASA Technical Reports Server (NTRS)

Engelund, Walter C.; Holland, Scott D.; Cockrell, Charles E., Jr.; Bittner, Robert D.

1999-01-01

NASA's Hyper-X Research Vehicle will provide a unique opportunity to obtain data on an operational airframe integrated scramjet propulsion system at true flight conditions. The airframe integrated nature of the scramjet engine with the Hyper-X vehicle results in a strong coupling effect between the propulsion system operation and the airframe s basic aerodynamic characteristics. Comments on general airframe integrated scramjet propulsion system effects on vehicle aerodynamic performance, stability, and control are provided, followed by examples specific to the Hyper-X research vehicle. An overview is provided of the current activities associated with the development of the Hyper-X aerodynamic database, including wind tunnel test activities and parallel CFD analysis efforts. A brief summary of the Hyper-X aerodynamic characteristics is provided, including the direct and indirect effects of the airframe integrated scramjet propulsion system operation on the basic airframe stability and control characteristics.

Initial Stage Reference Search : Driver Simulators to Test Shared Controls, Limited Autonomy Vehicle Systems

DOT National Transportation Integrated Search

2015-09-01

This literature review and reference scanning focuses on the use of driver simulators for semiautonomous (or shared control) vehicle systems (2012present), including related research from other modes of transportation (e.g., rail or aviation). Foc...

Cooperative mission execution and planning

NASA Astrophysics Data System (ADS)

Flann, Nicholas S.; Saunders, Kevin S.; Pells, Larry

1998-08-01

Utilizing multiple cooperating autonomous vehicles to perform tasks enhances robustness and efficiency over the use of a single vehicle. Furthermore, because autonomous vehicles can be controlled precisely and their status known accurately in real time, new types of cooperative behaviors are possible. This paper presents a working system called MEPS that plans and executes missions for multiple autonomous vehicles in large structured environments. Two generic spatial tasks are supported, to sweep an area and to visit a location while activating on-board equipment. Tasks can be entered both initially by the user and dynamically during mission execution by both users and vehicles. Sensor data and task achievement data is shared among the vehicles enabling them to cooperatively adapt to changing environmental, vehicle and tasks conditions. The system has been successfully applied to control ATV and micro-robotic vehicles in precision agriculture and waste-site characterization environments.

NASA Marshall Space Flight Center Controls Systems Design and Analysis Branch

NASA Technical Reports Server (NTRS)

Gilligan, Eric

2014-01-01

Marshall Space Flight Center maintains a critical national capability in the analysis of launch vehicle flight dynamics and flight certification of GN&C algorithms. MSFC analysts are domain experts in the areas of flexible-body dynamics and control-structure interaction, thrust vector control, sloshing propellant dynamics, and advanced statistical methods. Marshall's modeling and simulation expertise has supported manned spaceflight for over 50 years. Marshall's unparalleled capability in launch vehicle guidance, navigation, and control technology stems from its rich heritage in developing, integrating, and testing launch vehicle GN&C systems dating to the early Mercury-Redstone and Saturn vehicles. The Marshall team is continuously developing novel methods for design, including advanced techniques for large-scale optimization and analysis.

A Framework for Integration of IVHM Technologies for Intelligent Integration for Vehicle Management

NASA Technical Reports Server (NTRS)

Paris, Deidre E.; Trevino, Luis; Watson, Mike

2005-01-01

As a part of the overall goal of developing Integrated Vehicle Health Management (IVHM) systems for aerospace vehicles, the NASA Faculty Fellowship Program (NFFP) at Marshall Space Flight Center has performed a pilot study on IVHM principals which integrates researched IVHM technologies in support of Integrated Intelligent Vehicle Management (IIVM). IVHM is the process of assessing, preserving, and restoring system functionality across flight and ground systems (NASA NGLT 2004). The framework presented in this paper integrates advanced computational techniques with sensor and communication technologies for spacecraft that can generate responses through detection, diagnosis, reasoning, and adapt to system faults in support of IIVM. These real-time responses allow the IIVM to modify the effected vehicle subsystem(s) prior to a catastrophic event. Furthermore, the objective of this pilot program is to develop and integrate technologies which can provide a continuous, intelligent, and adaptive health state of a vehicle and use this information to improve safety and reduce costs of operations. Recent investments in avionics, health management, and controls have been directed towards IIVM. As this concept has matured, it has become clear the IIVM requires the same sensors and processing capabilities as the real-time avionics functions to support diagnosis of subsystem problems. New sensors have been proposed, in addition, to augment the avionics sensors to support better system monitoring and diagnostics. As the designs have been considered, a synergy has been realized where the real-time avionics can utilize sensors proposed for diagnostics and prognostics to make better real-time decisions in response to detected failures. IIVM provides for a single system allowing modularity of functions and hardware across the vehicle. The framework that supports IIVM consists of 11 major on-board functions necessary to fully manage a space vehicle maintaining crew safety and mission objectives: Guidance and Navigation; Communications and Tracking; Vehicle Monitoring; Information Transport and Integration; Vehicle Diagnostics; Vehicle Prognostics; Vehicle mission Planning; Automated Repair and Replacement; Vehicle Control; Human Computer Interface; and Onboard Verification and Validation. Furthermore, the presented framework provides complete vehicle management which not only allows for increased crew safety and mission success through new intelligence capabilities, but also yields a mechanism for more efficient vehicle operations. The representative IVHM technologies for IIVH includes: 1) robust controllers for use in re-usable launch vehicles, 2) scaleable/flexible computer platform using heterogeneous communication, 3) coupled electromagnetic oscillators for enhanced communications, 4) Linux-based real-time systems, 5) genetic algorithms, 6) Bayesian Networks, 7) evolutionary algorithms, 8) dynamic systems control modeling, and 9) advanced sensing capabilities. This paper presents IVHM technologies developed under NASA's NFFP pilot project. The integration of these IVHM technologies forms the framework for IIVM.

Autonomous Guidance of Agile Small-scale Rotorcraft

NASA Technical Reports Server (NTRS)

Mettler, Bernard; Feron, Eric

2004-01-01

This report describes a guidance system for agile vehicles based on a hybrid closed-loop model of the vehicle dynamics. The hybrid model represents the vehicle dynamics through a combination of linear-time-invariant control modes and pre-programmed, finite-duration maneuvers. This particular hybrid structure can be realized through a control system that combines trim controllers and a maneuvering control logic. The former enable precise trajectory tracking, and the latter enables trajectories at the edge of the vehicle capabilities. The closed-loop model is much simpler than the full vehicle equations of motion, yet it can capture a broad range of dynamic behaviors. It also supports a consistent link between the physical layer and the decision-making layer. The trajectory generation was formulated as an optimization problem using mixed-integer-linear-programming. The optimization is solved in a receding horizon fashion. Several techniques to improve the computational tractability were investigate. Simulation experiments using NASA Ames 'R-50 model show that this approach fully exploits the vehicle's agility.

Human factor roles in design of teleoperator systems

NASA Technical Reports Server (NTRS)

Janow, C.; Malone, T. B.

1973-01-01

Teleoperator systems are considered, giving attention to types of teleoperators, a manned space vehicle attached manipulator, a free-flying teleoperator, a surface exploration roving vehicle, the human factors role in total system design, the manipulator system, the sensor system, the communication system, the control system, and the mobility system. The role of human factors in the development of teleoperator systems is also discussed, taking into account visual systems, an operator control station, and the manipulators.

77 FR 28772 - Air Quality: Widespread Use for Onboard Refueling Vapor Recovery and Stage II Waiver

Federal Register 2010, 2011, 2012, 2013, 2014

2012-05-16

... required emissions control measure in Serious, Severe, and Extreme ozone nonattainment areas. Beginning... control on nearly all new highway vehicles since 2006. Over time, non- ORVR vehicles will continue to be replaced with ORVR vehicles. Stage II and ORVR emission control systems are redundant, and the EPA has...

Sliding Mode Control of the X-33 Vehicle in Launch Mode

NASA Technical Reports Server (NTRS)

Shtessel, Yuri; Jackson, Mark; Hall, Charles; Krupp, Don; Hendrix, N. Douglas

1998-01-01

The "nested" structure of the control system for the X33 vehicle in launch mode is developed. Employing backstopping concepts, the outer loop (guidance) and the Inner loop (rates) continuous sliding mode controllers are designed. Simulations of the 3-DOF model of the X33 launch vehicle showed an accurate, robust, de-coupled tracking performance.

75 FR 39500 - Privacy Act of 1974; System of Records

Federal Register 2010, 2011, 2012, 2013, 2014

2010-07-09

... with ``Badge and vehicle control records that at a minimum include; name, Social Security Number (SSN... system: Badge and vehicle control records that at a minimum include; name, Social Security Number (SSN... maintenance of the system: 10 U.S.C. 8013, Secretary of the Air Force, Powers and Duties; Department of...

Obstacle avoidance system with sonar sensing and fuzzy logic

NASA Astrophysics Data System (ADS)

Chiang, Wen-chuan; Kelkar, Nikhal; Hall, Ernest L.

1997-09-01

Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research on the design of an obstacle avoidance system using sonar sensors for a modular autonomous mobile robot controller. The advantages of a modular system are related to portability and the fact that any vehicle can become autonomous with minimal modifications. A mobile robot test-bed has been constructed using a golf cart base. The obstacle avoidance system is based on a micro-controller interfaced with multiple ultrasonic transducers. This micro-controller independently handles all timing and distance calculations and sends a distance measurement back to the computer via the serial line. This design yields a portable independent system. Testing of these systems has been done in the lab as well as on an outside test track with positive results that show that at five mph the vehicle can follow a line and at the same time avoid obstacles. This design, in its modularity, creates a portable autonomous obstacle avoidance controller applicable for any mobile vehicle with only minor adaptations.

Sensitivity analysis of automatic flight control systems using singular value concepts

NASA Technical Reports Server (NTRS)

Herrera-Vaillard, A.; Paduano, J.; Downing, D.

1985-01-01

A sensitivity analysis is presented that can be used to judge the impact of vehicle dynamic model variations on the relative stability of multivariable continuous closed-loop control systems. The sensitivity analysis uses and extends the singular-value concept by developing expressions for the gradients of the singular value with respect to variations in the vehicle dynamic model and the controller design. Combined with a priori estimates of the accuracy of the model, the gradients are used to identify the elements in the vehicle dynamic model and controller that could severely impact the system's relative stability. The technique is demonstrated for a yaw/roll damper stability augmentation designed for a business jet.

Analysis of the longitudinal handling qualities and pilot-induced-oscillation tendencies of the High-Angle-of-Attack Research Vehicle (HARV)

NASA Technical Reports Server (NTRS)

Hess, Ronald A.

1994-01-01

The NASA High-Angle-of Attack Research Vehicle (HARV), a modified F-18 aircraft, experienced handling qualities problems in recent flight tests at NASA Dryden Research Center. Foremost in these problems was the tendency of the pilot-aircraft system to exhibit a potentially dangerous phenomenon known as a pilot-induced oscillation (PIO). When they occur, PIO's can severely restrict performance, sharply dimish mission capabilities, and can even result in aircraft loss. A pilot/vehicle analysis was undertaken with the goal of reducing these PIO tendencies and improving the overall vehicle handling qualities with as few changes as possible to the existing feedback/feedforward flight control laws. Utilizing a pair of analytical pilot models developed by the author, a pilot/vehicle analysis of the existing longitudinal flight control system was undertaken. The analysis included prediction of overall handling qualities levels and PIO susceptability. The analysis indicated that improvement in the flight control system was warranted and led to the formulation of a simple control stick command shaping filter. Analysis of the pilot/vehicle system with the shaping filter indicated significant improvements in handling qualities and PIO tendencies could be achieved. A non-real time simulation of the modified control system was undertaken with a realistic, nonlinear model of the current HARV. Special emphasis was placed upon those details of the command filter implementation which could effect safety of flight. The modified system is currently awaiting evaluation in the real-time, pilot-in-the-loop, Dual-Maneuvering-Simulator (DMS) facility at Langley.

Active Thermal Control System Development for Exploration

NASA Technical Reports Server (NTRS)

Westheimer, David

2007-01-01

All space vehicles or habitats require thermal management to maintain a safe and operational environment for both crew and hardware. Active Thermal Control Systems (ATCS) perform the functions of acquiring heat from both crew and hardware within a vehicle, transporting that heat throughout the vehicle, and finally rejecting that energy into space. Almost all of the energy used in a space vehicle eventually turns into heat, which must be rejected in order to maintain an energy balance and temperature control of the vehicle. For crewed vehicles, Active Thermal Control Systems are pumped fluid loops that are made up of components designed to perform these functions. NASA has been actively developing technologies that will enable future missions or will provide significant improvements over the state of the art technologies. These technologies have are targeted for application on the Crew Exploration Vehicle (CEV), or Orion, and a Lunar Surface Access Module (LSAM). The technologies that have been selected and are currently under development include: fluids that enable single loop ATCS architectures, a gravity insensitive vapor compression cycle heat pump, a sublimator with reduced sensitivity to feedwater contamination, an evaporative heat sink that can operate in multiple ambient pressure environments, a compact spray evaporator, and lightweight radiators that take advantage of carbon composites and advanced optical coatings.

Coordinated path-following and direct yaw-moment control of autonomous electric vehicles with sideslip angle estimation

NASA Astrophysics Data System (ADS)

Guo, Jinghua; Luo, Yugong; Li, Keqiang; Dai, Yifan

2018-05-01

This paper presents a novel coordinated path following system (PFS) and direct yaw-moment control (DYC) of autonomous electric vehicles via hierarchical control technique. In the high-level control law design, a new fuzzy factor is introduced based on the magnitude of longitudinal velocity of vehicle, a linear time varying (LTV)-based model predictive controller (MPC) is proposed to acquire the wheel steering angle and external yaw moment. Then, a pseudo inverse (PI) low-level control allocation law is designed to realize the tracking of desired external moment torque and management of the redundant tire actuators. Furthermore, the vehicle sideslip angle is estimated by the data fusion of low-cost GPS and INS, which can be obtained by the integral of modified INS signals with GPS signals as initial value. Finally, the effectiveness of the proposed control system is validated by the simulation and experimental tests.

Ultrasonic Sensors in Urban Traffic Driving-Aid Systems

PubMed Central

Alonso, Luciano; Milanés, Vicente; Torre-Ferrero, Carlos; Godoy, Jorge; Oria, Juan P.; de Pedro, Teresa

2011-01-01

Currently, vehicles are often equipped with active safety systems to reduce the risk of accidents, most of which occur in urban environments. The most prominent include Antilock Braking Systems (ABS), Traction Control and Stability Control. All these systems use different kinds of sensors to constantly monitor the conditions of the vehicle, and act in an emergency. In this paper the use of ultrasonic sensors in active safety systems for urban traffic is proposed, and the advantages and disadvantages when compared to other sensors are discussed. Adaptive Cruise Control (ACC) for urban traffic based on ultrasounds is presented as an application example. The proposed system has been implemented in a fully-automated prototype vehicle and has been tested under real traffic conditions. The results confirm the good performance of ultrasonic sensors in these systems. PMID:22346596

Ultrasonic sensors in urban traffic driving-aid systems.

PubMed

Alonso, Luciano; Milanés, Vicente; Torre-Ferrero, Carlos; Godoy, Jorge; Oria, Juan P; de Pedro, Teresa

2011-01-01

Currently, vehicles are often equipped with active safety systems to reduce the risk of accidents, most of which occur in urban environments. The most prominent include Antilock Braking Systems (ABS), Traction Control and Stability Control. All these systems use different kinds of sensors to constantly monitor the conditions of the vehicle, and act in an emergency. In this paper the use of ultrasonic sensors in active safety systems for urban traffic is proposed, and the advantages and disadvantages when compared to other sensors are discussed. Adaptive Cruise Control (ACC) for urban traffic based on ultrasounds is presented as an application example. The proposed system has been implemented in a fully-automated prototype vehicle and has been tested under real traffic conditions. The results confirm the good performance of ultrasonic sensors in these systems.

A System for Fast Navigation of Autonomous Vehicles

DTIC Science & Technology

1991-09-01

AD-A243 523 4, jj A System for Fast Navigation of Autonomous Vehicles Sanjiv Singh, Dai Feng, Paul Keller, Gary Shaffer, Wen Fan Shi, Dong Hun Shin...FUNDING NUMBERS A System for Fast Navigation of Autonomous Vehicles 6. AUTHOR(S) S. Singh, D. Feng, P. Keller, G. Shaffer, W.F. Shi, D.H. Shin, J. West...common in the control of autonomous vehicles to establish the necessary kinematic models but to ignore an explicit representation of the vehicle dynamics

A Vehicle Active Safety Model: Vehicle Speed Control Based on Driver Vigilance Detection Using Wearable EEG and Sparse Representation.

PubMed

Zhang, Zutao; Luo, Dianyuan; Rasim, Yagubov; Li, Yanjun; Meng, Guanjun; Xu, Jian; Wang, Chunbai

2016-02-19

In this paper, we present a vehicle active safety model for vehicle speed control based on driver vigilance detection using low-cost, comfortable, wearable electroencephalographic (EEG) sensors and sparse representation. The proposed system consists of three main steps, namely wireless wearable EEG collection, driver vigilance detection, and vehicle speed control strategy. First of all, a homemade low-cost comfortable wearable brain-computer interface (BCI) system with eight channels is designed for collecting the driver's EEG signal. Second, wavelet de-noising and down-sample algorithms are utilized to enhance the quality of EEG data, and Fast Fourier Transformation (FFT) is adopted to extract the EEG power spectrum density (PSD). In this step, sparse representation classification combined with k-singular value decomposition (KSVD) is firstly introduced in PSD to estimate the driver's vigilance level. Finally, a novel safety strategy of vehicle speed control, which controls the electronic throttle opening and automatic braking after driver fatigue detection using the above method, is presented to avoid serious collisions and traffic accidents. The simulation and practical testing results demonstrate the feasibility of the vehicle active safety model.

A Vehicle Active Safety Model: Vehicle Speed Control Based on Driver Vigilance Detection Using Wearable EEG and Sparse Representation

PubMed Central

Zhang, Zutao; Luo, Dianyuan; Rasim, Yagubov; Li, Yanjun; Meng, Guanjun; Xu, Jian; Wang, Chunbai

2016-01-01

In this paper, we present a vehicle active safety model for vehicle speed control based on driver vigilance detection using low-cost, comfortable, wearable electroencephalographic (EEG) sensors and sparse representation. The proposed system consists of three main steps, namely wireless wearable EEG collection, driver vigilance detection, and vehicle speed control strategy. First of all, a homemade low-cost comfortable wearable brain-computer interface (BCI) system with eight channels is designed for collecting the driver’s EEG signal. Second, wavelet de-noising and down-sample algorithms are utilized to enhance the quality of EEG data, and Fast Fourier Transformation (FFT) is adopted to extract the EEG power spectrum density (PSD). In this step, sparse representation classification combined with k-singular value decomposition (KSVD) is firstly introduced in PSD to estimate the driver’s vigilance level . Finally, a novel safety strategy of vehicle speed control, which controls the electronic throttle opening and automatic braking after driver fatigue detection using the above method, is presented to avoid serious collisions and traffic accidents. The simulation and practical testing results demonstrate the feasibility of the vehicle active safety model. PMID:26907278

Mid-Lift-to-Drag Ratio Rigid Vehicle Control System Design and Simulation for Human Mars Entry

NASA Technical Reports Server (NTRS)

Johnson, Breanna J.; Cerimele, Christopher J.; Stachowiak, Susan J.; Sostaric, Ronald R.; Matz, Daniel A.; Lu, Ping

2018-01-01

The Mid-Lift-to-Drag Ratio Rigid Vehicle (MRV) is a proposed candidate in the NASA Evolvable Mars Campaign's (EMC) Pathfinder Entry, Descent, and Landing (EDL) architecture study. The purpose of the study is to design a mission and vehicle capable of transporting a 20mt payload to the surface of Mars. The MRV is unique in its rigid, asymmetrical lifting-body shape which enables a higher lift-to-drag ratio (L/D) than the typical robotic Mars entry capsule vehicles that carry much less mass. This paper presents the formulation and six-degree-of-freedom (6DOF) performance of the MRV's control system, which uses both aerosurfaces and a propulsive reaction control system (RCS) to affect longitudinal and lateral directional behavior.

Apparatus and method for modifying the operation of a robotic vehicle in a real environment, to emulate the operation of the robotic vehicle operating in a mixed reality environment

DOEpatents

Garretson, Justin R [Albuquerque, NM; Parker, Eric P [Albuquerque, NM; Gladwell, T Scott [Albuquerque, NM; Rigdon, J Brian [Edgewood, NM; Oppel, III, Fred J.

2012-05-29

Apparatus and methods for modifying the operation of a robotic vehicle in a real environment to emulate the operation of the robotic vehicle in a mixed reality environment include a vehicle sensing system having a communications module attached to the robotic vehicle for communicating operating parameters related to the robotic vehicle in a real environment to a simulation controller for simulating the operation of the robotic vehicle in a mixed (live, virtual and constructive) environment wherein the affects of virtual and constructive entities on the operation of the robotic vehicle (and vice versa) are simulated. These effects are communicated to the vehicle sensing system which generates a modified control command for the robotic vehicle including the effects of virtual and constructive entities, causing the robot in the real environment to behave as if virtual and constructive entities existed in the real environment.

X-wing fly-by-wire vehicle management system

NASA Technical Reports Server (NTRS)

Fischer, Jr., William C. (Inventor)

1990-01-01

A complete, computer based, vehicle management system (VMS) for X-Wing aircraft using digital fly-by-wire technology controlling many subsystems and providing functions beyond the classical aircraft flight control system. The vehicle management system receives input signals from a multiplicity of sensors and provides commands to a large number of actuators controlling many subsystems. The VMS includes--segregating flight critical and mission critical factors and providing a greater level of back-up or redundancy for the former; centralizing the computation of functions utilized by several subsystems (e.g. air data, rotor speed, etc.); integrating the control of the flight control functions, the compressor control, the rotor conversion control, vibration alleviation by higher harmonic control, engine power anticipation and self-test, all in the same flight control computer (FCC) hardware units. The VMS uses equivalent redundancy techniques to attain quadruple equivalency levels; includes alternate modes of operation and recovery means to back-up any functions which fail; and uses back-up control software for software redundancy.

An adaptive trajectory tracking control of four rotor hover vehicle using extended normalized radial basis function network

NASA Astrophysics Data System (ADS)

ul Amin, Rooh; Aijun, Li; Khan, Muhammad Umer; Shamshirband, Shahaboddin; Kamsin, Amirrudin

2017-01-01

In this paper, an adaptive trajectory tracking controller based on extended normalized radial basis function network (ENRBFN) is proposed for 3-degree-of-freedom four rotor hover vehicle subjected to external disturbance i.e. wind turbulence. Mathematical model of four rotor hover system is developed using equations of motions and a new computational intelligence based technique ENRBFN is introduced to approximate the unmodeled dynamics of the hover vehicle. The adaptive controller based on the Lyapunov stability approach is designed to achieve tracking of the desired attitude angles of four rotor hover vehicle in the presence of wind turbulence. The adaptive weight update based on the Levenberg-Marquardt algorithm is used to avoid weight drift in case the system is exposed to external disturbances. The closed-loop system stability is also analyzed using Lyapunov stability theory. Simulations and experimental results are included to validate the effectiveness of the proposed control scheme.

Flight Performance Feasibility Studies for the Max Launch Abort System

NASA Technical Reports Server (NTRS)

Tarabini, Paul V.; Gilbert, Michael G.; Beaty, James R.

2013-01-01

In 2007, the NASA Engineering and Safety Center (NESC) initiated the Max Launch Abort System Project to explore crew escape system concepts designed to be fully encapsulated within an aerodynamic fairing and smoothly integrated onto a launch vehicle. One objective of this design was to develop a more compact launch escape vehicle that eliminated the need for an escape tower, as was used in the Mercury and Apollo escape systems and what is planned for the Orion Multi-Purpose Crew Vehicle (MPCV). The benefits for the launch vehicle of eliminating a tower from the escape vehicle design include lower structural weights, reduced bending moments during atmospheric flight, and a decrease in induced aero-acoustic loads. This paper discusses the development of encapsulated, towerless launch escape vehicle concepts, especially as it pertains to the flight performance and systems analysis trade studies conducted to establish mission feasibility and assess system-level performance. Two different towerless escape vehicle designs are discussed in depth: one with allpropulsive control using liquid attitude control thrusters, and a second employing deployable aft swept grid fins to provide passive stability during coast. Simulation results are presented for a range of nominal and off-nominal escape conditions.

Numerical simulation of active track tensioning system for autonomous hybrid vehicle

NASA Astrophysics Data System (ADS)

Mȩżyk, Arkadiusz; Czapla, Tomasz; Klein, Wojciech; Mura, Gabriel

2017-05-01

One of the most important components of a high speed tracked vehicle is an efficient suspension system. The vehicle should be able to operate both in rough terrain for performance of engineering tasks as well as on the road with high speed. This is especially important for an autonomous platform that operates either with or without human supervision, so that the vibration level can rise compared to a manned vehicle. In this case critical electronic and electric parts must be protected to ensure the reliability of the vehicle. The paper presents a dynamic parameters determination methodology of suspension system for an autonomous high speed tracked platform with total weight of about 5 tonnes and hybrid propulsion system. Common among tracked vehicles suspension solutions and cost-efficient, the torsion-bar system was chosen. One of the most important issues was determining optimal track tensioning - in this case an active hydraulic system was applied. The selection of system parameters was performed with using numerical model based on multi-body dynamic approach. The results of numerical analysis were used to define parameters of active tensioning control system setup. LMS Virtual.Lab Motion was used for multi-body dynamics numerical calculation and Matlab/SIMULINK for control system simulation.

CURV 3: Characteristics and mission applications

NASA Astrophysics Data System (ADS)

Perkins, W. W.; Brady, L. K.

1984-03-01

The Cable-Controlled Underwater Recovery Vehicle (CURV) program was begun by NOSC for the specific purpose of developing economical systems to recover test ordnance at NOSC's Long Beach and San Clemente Island test ranges. CURV 3 is the latest in this series of tethered, unmanned, remotely controlled vehicles and its present capabilities far exceed the original CURV 1. Originally conceived for use as a search and recovery vehicle, CURV has evolved into a versatile and easily adaptable multipurpose work vehicle capable of performing search and recovery tasks as well as pursuing test, evaluation, exploration, and work projects. Basically, CURV is a composite of integrated subsystems including such items as propulsion, search and navigation, optics, hydraulics, and tools. Because it is unmanned and does not require life support or other complex support systems, CURV is able to perform most undersea tasks more economically and efficiently than maned systems. Also, since it is powered and controlled from the surface, CURV has a continuous, unlimited operating capability. Under emergency conditions, the vehicle can operate to 10,000-foot depths. CURV can be easily transported to any spot in the world. Upon arrival of the vehicle, control van, cable, and support gear can be mounted on a suitable ship of opportunity.

Robust automatic control system of vessel descent-rise device for plant with distributed parameters “cable – towed underwater vehicle”

NASA Astrophysics Data System (ADS)

Chupina, K. V.; Kataev, E. V.; Khannanov, A. M.; Korshunov, V. N.; Sennikov, I. A.

2018-05-01

The paper is devoted to a problem of synthesis of the robust control system for a distributed parameters plant. The vessel descent-rise device has a heave compensation function for stabilization of the towed underwater vehicle on a set depth. A sea state code, parameters of the underwater vehicle and cable vary during underwater operations, the vessel heave is a stochastic process. It means that the plant and external disturbances have uncertainty. That is why it is necessary to use the robust theory for synthesis of an automatic control system, but without use of traditional methods of optimization, because this cable has distributed parameters. The offered technique has allowed one to design an effective control system for stabilization of immersion depth of the towed underwater vehicle for various degrees of sea roughness and to provide its robustness to deviations of parameters of the vehicle and cable’s length.

Fault tolerant and lifetime control architecture for autonomous vehicles

NASA Astrophysics Data System (ADS)

Bogdanov, Alexander; Chen, Yi-Liang; Sundareswaran, Venkataraman; Altshuler, Thomas

2008-04-01

Increased vehicle autonomy, survivability and utility can provide an unprecedented impact on mission success and are one of the most desirable improvements for modern autonomous vehicles. We propose a general architecture of intelligent resource allocation, reconfigurable control and system restructuring for autonomous vehicles. The architecture is based on fault-tolerant control and lifetime prediction principles, and it provides improved vehicle survivability, extended service intervals, greater operational autonomy through lower rate of time-critical mission failures and lesser dependence on supplies and maintenance. The architecture enables mission distribution, adaptation and execution constrained on vehicle and payload faults and desirable lifetime. The proposed architecture will allow managing missions more efficiently by weighing vehicle capabilities versus mission objectives and replacing the vehicle only when it is necessary.

A fuzzy logic sliding mode controlled electronic differential for a direct wheel drive EV

NASA Astrophysics Data System (ADS)

Ozkop, Emre; Altas, Ismail H.; Okumus, H. Ibrahim; Sharaf, Adel M.

2015-11-01

In this study, a direct wheel drive electric vehicle based on an electronic differential system with a fuzzy logic sliding mode controller (FLSMC) is studied. The conventional sliding surface is modified using a fuzzy rule base to obtain fuzzy dynamic sliding surfaces by changing its slopes using the global error and its derivative in a fuzzy logic inference system. The controller is compared with proportional-integral-derivative (PID) and sliding mode controllers (SMCs), which are usually preferred to be used in industry. The proposed controller provides robustness and flexibility to direct wheel drive electric vehicles. The fuzzy logic sliding mode controller, electronic differential system and the overall electrical vehicle mechanism are modelled and digitally simulated by using the Matlab software. Simulation results show that the system with FLSMC has better efficiency and performance compared to those of PID and SMCs.

Remote-controlled vision-guided mobile robot system

NASA Astrophysics Data System (ADS)

Ande, Raymond; Samu, Tayib; Hall, Ernest L.

1997-09-01

Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research on the design of the remote controlled emergency stop and vision systems for an autonomous mobile robot. The remote control provides human supervision and emergency stop capabilities for the autonomous vehicle. The vision guidance provides automatic operation. A mobile robot test-bed has been constructed using a golf cart base. The mobile robot (Bearcat) was built for the Association for Unmanned Vehicle Systems (AUVS) 1997 competition. The mobile robot has full speed control with guidance provided by a vision system and an obstacle avoidance system using ultrasonic sensors systems. Vision guidance is accomplished using two CCD cameras with zoom lenses. The vision data is processed by a high speed tracking device, communicating with the computer the X, Y coordinates of blobs along the lane markers. The system also has three emergency stop switches and a remote controlled emergency stop switch that can disable the traction motor and set the brake. Testing of these systems has been done in the lab as well as on an outside test track with positive results that show that at five mph the vehicle can follow a line and at the same time avoid obstacles.

Neuro-fuzzy controller to navigate an unmanned vehicle.

PubMed

Selma, Boumediene; Chouraqui, Samira

2013-12-01

A Neuro-fuzzy control method for an Unmanned Vehicle (UV) simulation is described. The objective is guiding an autonomous vehicle to a desired destination along a desired path in an environment characterized by a terrain and a set of distinct objects, such as obstacles like donkey traffic lights and cars circulating in the trajectory. The autonomous navigate ability and road following precision are mainly influenced by its control strategy and real-time control performance. Fuzzy Logic Controller can very well describe the desired system behavior with simple "if-then" relations owing the designer to derive "if-then" rules manually by trial and error. On the other hand, Neural Networks perform function approximation of a system but cannot interpret the solution obtained neither check if its solution is plausible. The two approaches are complementary. Combining them, Neural Networks will allow learning capability while Fuzzy-Logic will bring knowledge representation (Neuro-Fuzzy). In this paper, an artificial neural network fuzzy inference system (ANFIS) controller is described and implemented to navigate the autonomous vehicle. Results show several improvements in the control system adjusted by neuro-fuzzy techniques in comparison to the previous methods like Artificial Neural Network (ANN).

Study of automatic and manual terminal guidance and control systems for space shuttle vehicles. Volume 2: Section 4 through appendix B

NASA Technical Reports Server (NTRS)

Osder, S.; Keller, R.

1971-01-01

Guidance and control design studies that were performed for three specific space shuttle candidate vehicles are described. Three types of simulation were considered. The manual control investigations and pilot evaluations of the automatic system performance is presented. Recommendations for systems and equipment, both airborne and ground-based, necessary to flight test the guidance and control concepts for shuttlecraft terminal approach and landing are reported.

Consensus seeking, formation keeping, and trajectory tracking in multiple vehicle cooperative control

NASA Astrophysics Data System (ADS)

Ren, Wei

Cooperative control problems for multiple vehicle systems can be categorized as either formation control problems with applications to mobile robots, unmanned air vehicles, autonomous underwater vehicles, satellites, aircraft, spacecraft, and automated highway systems, or non-formation control problems such as task assignment, cooperative transport, cooperative role assignment, air traffic control, cooperative timing, and cooperative search. The cooperative control of multiple vehicle systems poses significant theoretical and practical challenges. For cooperative control strategies to be successful, numerous issues must be addressed. We consider three important and correlated issues: consensus seeking, formation keeping, and trajectory tracking. For consensus seeking, we investigate algorithms and protocols so that a team of vehicles can reach consensus on the values of the coordination data in the presence of imperfect sensors, communication dropout, sparse communication topologies, and noisy and unreliable communication links. The main contribution of this dissertation in this area is that we show necessary and/or sufficient conditions for consensus seeking with limited, unidirectional, and unreliable information exchange under fixed and switching interaction topologies (through either communication or sensing). For formation keeping, we apply a so-called "virtual structure" approach to spacecraft formation flying and multi-vehicle formation maneuvers. As a result, single vehicle path planning and trajectory generation techniques can be employed for the virtual structure while trajectory tracking strategies can be employed for each vehicle. The main contribution of this dissertation in this area is that we propose a decentralized architecture for multiple spacecraft formation flying in deep space with formation feedback introduced. This architecture ensures the necessary precision in the presence of actuator saturation, internal and external disturbances, and stringent inter-vehicle communication limitations. A constructive approach based on the satisficing control paradigm is also applied to multi-robot coordination in hardware. For trajectory tracking, we investigate nonlinear tracking controllers for fixed wing unmanned air vehicles and nonholonomic mobile robots with velocity and heading rate constraints. The main contribution of this dissertation in this area is that our proposed tracking controllers are shown to be robust to input uncertainties and measurement noise, and are computationally simple and can be implemented with low-cost, low-power microcontrollers. In addition, our approach allows piecewise continuous reference velocity and heading rate and can be extended to derive a variety of other trajectory tracking strategies.

Method and system for control of upstream flowfields of vehicle in supersonic or hypersonic atmospheric flight

NASA Technical Reports Server (NTRS)

Daso, Endwell O. (Inventor); Pritchett, II, Victor E. (Inventor); Wang, Ten-See (Inventor); Farr, Rebecca Ann (Inventor)

2012-01-01

The upstream flowfield of a vehicle traveling in supersonic or hypersonic atmospheric flight is actively controlled using attribute(s) experienced by the vehicle. Sensed attribute(s) include pressure along the vehicle's outer mold line, temperature along the vehicle's outer mold line, heat flux along the vehicle's outer mold line, and/or local acceleration response of the vehicle. A non-heated, non-plasma-producing gas is injected into an upstream flowfield of the vehicle from at least one surface location along the vehicle's outer mold line. The pressure of the gas so-injected is adjusted based on the attribute(s) so-sensed.

A Review of Dynamic Characteristics of Magnetically Levitated Vehicle Systems.

DTIC Science & Technology

1995-11-01

The dynamic response of magnetically levitated ( maglev ) ground transportation systems has important consequences for safety and ride quality...smoothness and levitation and control systems must be considered if maglev systems are to be economically feasible. The link between the guideway and the...other maglev components is vehicle dynamics. For a commercial maglev system, vehicle dynamics must be analyzed and tested in detail. This report, which

Reusable Launch Vehicle Control In Multiple Time Scale Sliding Modes

NASA Technical Reports Server (NTRS)

Shtessel, Yuri; Hall, Charles; Jackson, Mark

2000-01-01

A reusable launch vehicle control problem during ascent is addressed via multiple-time scaled continuous sliding mode control. The proposed sliding mode controller utilizes a two-loop structure and provides robust, de-coupled tracking of both orientation angle command profiles and angular rate command profiles in the presence of bounded external disturbances and plant uncertainties. Sliding mode control causes the angular rate and orientation angle tracking error dynamics to be constrained to linear, de-coupled, homogeneous, and vector valued differential equations with desired eigenvalues placement. Overall stability of a two-loop control system is addressed. An optimal control allocation algorithm is designed that allocates torque commands into end-effector deflection commands, which are executed by the actuators. The dual-time scale sliding mode controller was designed for the X-33 technology demonstration sub-orbital launch vehicle in the launch mode. Simulation results show that the designed controller provides robust, accurate, de-coupled tracking of the orientation angle command profiles in presence of external disturbances and vehicle inertia uncertainties. This is a significant advancement in performance over that achieved with linear, gain scheduled control systems currently being used for launch vehicles.

New Vectorial Propulsion System and Trajectory Control Designs for Improved AUV Mission Autonomy.

PubMed

Masmitja, Ivan; Gonzalez, Julian; Galarza, Cesar; Gomariz, Spartacus; Aguzzi, Jacopo; Del Rio, Joaquin

2018-04-17

Autonomous Underwater Vehicles (AUV) are proving to be a promising platform design for multidisciplinary autonomous operability with a wide range of applications in marine ecology and geoscience. Here, two novel contributions towards increasing the autonomous navigation capability of a new AUV prototype (the Guanay II) as a mix between a propelled vehicle and a glider are presented. Firstly, a vectorial propulsion system has been designed to provide full vehicle maneuverability in both horizontal and vertical planes. Furthermore, two controllers have been designed, based on fuzzy controls, to provide the vehicle with autonomous navigation capabilities. Due to the decoupled system propriety, the controllers in the horizontal plane have been designed separately from the vertical plane. This class of non-linear controllers has been used to interpret linguistic laws into different zones of functionality. This method provided good performance, used as interpolation between different rules or linear controls. Both improvements have been validated through simulations and field tests, displaying good performance results. Finally, the conclusion of this work is that the Guanay II AUV has a solid controller to perform autonomous navigation and carry out vertical immersions.

Thermal Storage System for Electric Vehicle Cabin Heating Component and System Analysis

DOE Office of Scientific and Technical Information (OSTI.GOV)

LaClair, Tim J; Gao, Zhiming; Abdelaziz, Omar

Cabin heating of current electric vehicle (EV) designs is typically provided using electrical energy from the traction battery, since waste heat is not available from an engine as in the case of a conventional automobile. In very cold climatic conditions, the power required for space heating of an EV can be of a similar magnitude to that required for propulsion of the vehicle. As a result, its driving range can be reduced very significantly during the winter season, which limits consumer acceptance of EVs and results in increased battery costs to achieve a minimum range while ensuring comfort to themore » EV driver. To minimize the range penalty associated with EV cabin heating, a novel climate control system that includes thermal energy storage from an advanced phase change material (PCM) has been designed for use in EVs and plug-in hybrid electric vehicles (PHEVs). The present paper focuses on the modeling and analysis of this electrical PCM-Assisted Thermal Heating System (ePATHS) and is a companion to the paper Design and Testing of a Thermal Storage System for Electric Vehicle Cabin Heating. A detailed heat transfer model was developed to simulate the PCM heat exchanger that is at the heart of the ePATHS and was subsequently used to analyze and optimize its design. The results from this analysis were integrated into a MATLAB Simulink system model to simulate the fluid flow, pressure drop and heat transfer in all components of the ePATHS. The system model was then used to predict the performance of the climate control system in the vehicle and to evaluate control strategies needed to achieve the desired temperature control in the cabin. The analysis performed to design the ePATHS is described in detail and the system s predicted performance in a vehicle HVAC system is presented.« less

A model predictive speed tracking control approach for autonomous ground vehicles

NASA Astrophysics Data System (ADS)

Zhu, Min; Chen, Huiyan; Xiong, Guangming

2017-03-01

This paper presents a novel speed tracking control approach based on a model predictive control (MPC) framework for autonomous ground vehicles. A switching algorithm without calibration is proposed to determine the drive or brake control. Combined with a simple inverse longitudinal vehicle model and adaptive regulation of MPC, this algorithm can make use of the engine brake torque for various driving conditions and avoid high frequency oscillations automatically. A simplified quadratic program (QP) solving algorithm is used to reduce the computational time, and the approach has been applied in a 16-bit microcontroller. The performance of the proposed approach is evaluated via simulations and vehicle tests, which were carried out in a range of speed-profile tracking tasks. With a well-designed system structure, high-precision speed control is achieved. The system can robustly model uncertainty and external disturbances, and yields a faster response with less overshoot than a PI controller.

UAV Trajectory Modeling Using Neural Networks

NASA Technical Reports Server (NTRS)

Xue, Min

2017-01-01

Massive small unmanned aerial vehicles are envisioned to operate in the near future. While there are lots of research problems need to be addressed before dense operations can happen, trajectory modeling remains as one of the keys to understand and develop policies, regulations, and requirements for safe and efficient unmanned aerial vehicle operations. The fidelity requirement of a small unmanned vehicle trajectory model is high because these vehicles are sensitive to winds due to their small size and low operational altitude. Both vehicle control systems and dynamic models are needed for trajectory modeling, which makes the modeling a great challenge, especially considering the fact that manufactures are not willing to share their control systems. This work proposed to use a neural network approach for modelling small unmanned vehicle's trajectory without knowing its control system and bypassing exhaustive efforts for aerodynamic parameter identification. As a proof of concept, instead of collecting data from flight tests, this work used the trajectory data generated by a mathematical vehicle model for training and testing the neural network. The results showed great promise because the trained neural network can predict 4D trajectories accurately, and prediction errors were less than 2:0 meters in both temporal and spatial dimensions.

40 CFR 85.510 - Exemption provisions for new and relatively new vehicles/engines.

Code of Federal Regulations, 2014 CFR

2014-07-01

... system, engine calibration, and emission control system functionality when operating on the fuel with... relatively new vehicles/engines. 85.510 Section 85.510 Protection of Environment ENVIRONMENTAL PROTECTION AGENCY (CONTINUED) AIR PROGRAMS (CONTINUED) CONTROL OF AIR POLLUTION FROM MOBILE SOURCES Exemption of...

Prevalence of driver physical factors leading to unintentional lane departure crashes.

PubMed

Cicchino, Jessica B; Zuby, David S

2017-07-04

Some lane-keeping assist systems in development and production provide autonomous braking and steering to correct unintentional lane drift but otherwise require drivers to fully control their vehicles. The goal of this study was to quantify the proportion of drivers involved in unintentional lane drift crashes who would be unable to regain control of their vehicles to inform the design of such systems. The NHTSA's National Motor Vehicle Crash Causation Survey collected in-depth, on-scene data for a nationally representative sample of 5,470 U.S. police-reported passenger vehicle crashes during 2005-2007 that occurred between 6 a.m. and midnight and for which emergency medical services were dispatched. The physical states of drivers involved in the 631 lane drift crashes in the sample, which represented 259,034 crashes nationally, were characterized. Thirty-four percent of drivers who crashed because they drifted from their lanes were sleeping or otherwise incapacitated. These drivers would be unlikely to regain full control of their vehicles if an active safety system prevented their initial drift. An additional 13% of these drivers had a nonincapacitating medical issue, blood alcohol concentration (BAC) ≥ 0.08%, or other physical factor that may not allow them to regain full vehicle control. When crashes involved serious or fatal injuries, 42% of drivers who drifted were sleeping or otherwise incapacitated, and an additional 14% were impacted by a nonincapacitating medical issue, BAC ≥ 0.08%, or other physical factor. Designers of active safety systems that provide autonomous lateral control should consider that a substantial proportion of drivers at risk of lane drift crashes are incapacitated. Systems that provide only transient corrective action may not ultimately prevent lane departure crashes for these drivers, and drivers who do avoid lane drift crashes because of these systems may be at high risk of other types of crashes when they attempt to regain control. Active lane-keeping assist systems may need to be combined with in-vehicle driver monitoring to identify incapacitated drivers and safely remove them from the roadway if the systems are to reach their maximum potential benefit.

40 CFR 86.096-24 - Test vehicles and engines.

Code of Federal Regulations, 2012 CFR

2012-07-01

... design, engine family, emission control system, or with any other durability-related design difference... 40 Protection of Environment 19 2012-07-01 2012-07-01 false Test vehicles and engines. 86.096-24... (CONTINUED) CONTROL OF EMISSIONS FROM NEW AND IN-USE HIGHWAY VEHICLES AND ENGINES General Provisions for...

40 CFR 85.510 - Exemption provisions for new and relatively new vehicles/engines.

Code of Federal Regulations, 2013 CFR

2013-07-01

... control system functionality when operating on the fuel with which the vehicle/engine was originally... relatively new vehicles/engines. 85.510 Section 85.510 Protection of Environment ENVIRONMENTAL PROTECTION AGENCY (CONTINUED) AIR PROGRAMS (CONTINUED) CONTROL OF AIR POLLUTION FROM MOBILE SOURCES Exemption of...

New Automotive Air Conditioning System Simulation Tool Developed in MATLAB/Simulink

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kiss, T.; Chaney, L.; Meyer, J.

Further improvements in vehicle fuel efficiency require accurate evaluation of the vehicle's transient total power requirement. When operated, the air conditioning (A/C) system is the largest auxiliary load on a vehicle; therefore, accurate evaluation of the load it places on the vehicle's engine and/or energy storage system is especially important. Vehicle simulation software, such as 'Autonomie,' has been used by OEMs to evaluate vehicles' energy performance. A transient A/C simulation tool incorporated into vehicle simulation models would also provide a tool for developing more efficient A/C systems through a thorough consideration of the transient A/C system performance. The dynamic systemmore » simulation software Matlab/Simulink was used to develop new and more efficient vehicle energy system controls. The various modeling methods used for the new simulation tool are described in detail. Comparison with measured data is provided to demonstrate the validity of the model.« less

Intervention criterion and control research for active front steering with consideration of road adhesion

NASA Astrophysics Data System (ADS)

Wu, Xiaojian; Zhou, Bing; Wen, Guilin; Long, Lefei; Cui, Qingjia

2018-04-01

A multi-objective active front steering (AFS) control system considering the road adhesion constraint on vehicle stability is developed using the sliding mode control (SMC) method. First, an identification function combined with the relationship between the yaw rate and the steering angle is developed to determine whether the tyre state is linear or nonlinear. On this basis, an intervention criterion for the AFS system is proposed to improve vehicle handling and stability in emergent conditions. A sideslip angle stability domain enveloped by the upper, lower, left, and right boundaries, as well as the constraint of road adhesion coefficient, is constructed based on the ? phase-plane method. A dynamic weighting coefficient to coordinate the control of yaw rate and sideslip angle, and a control strategy that considers changing control objectives based on the desired yaw rate, the desired sideslip angle, and their proportional weights, are proposed for the SMC controller. Because road adhesion has a significant effect on vehicle stability and to meet the control algorithm's requirement of real-time access to vehicle states, a unscented Kalman filter-based state observer is proposed to estimate the adhesion coefficient and the required states. Finally, simulations are performed using high and low road adhesion conditions in a Matlab/Simulink environment, and the results show that the proposed AFS control system promptly intervenes according to the intervention criterion, effectively improving vehicle handling and stability.

Wheelset curving guidance using H∞ control

NASA Astrophysics Data System (ADS)

Qazizadeh, Alireza; Stichel, Sebastian; Feyzmahdavian, Hamid Reza

2018-03-01

This study shows how to design an active suspension system for guidance of a rail vehicle wheelset in curve. The main focus of the study is on designing the controller and afterwards studying its effect on the wheel wear behaviour. The controller is designed based on the closed-loop transfer function shaping method and ? control strategy. The study discusses designing of the controller for both nominal and uncertain plants and considers both stability and performance. The designed controllers in Simulink are then applied to the vehicle model in Simpack to study the wheel wear behaviour in curve. The vehicle type selected for this study is a two-axle rail vehicle. This is because this type of vehicle is known to have very poor curving performance and high wheel wear. On the other hand, the relative simpler structure of this type of vehicle compared to bogie vehicles make it a more economic choice. Hence, equipping this type of vehicle with the active wheelset steering is believed to show high enough benefit to cost ratio to remain attractive to rail vehicle manufacturers and operators.

Cloud-based distributed control of unmanned systems

NASA Astrophysics Data System (ADS)

Nguyen, Kim B.; Powell, Darren N.; Yetman, Charles; August, Michael; Alderson, Susan L.; Raney, Christopher J.

2015-05-01

Enabling warfighters to efficiently and safely execute dangerous missions, unmanned systems have been an increasingly valuable component in modern warfare. The evolving use of unmanned systems leads to vast amounts of data collected from sensors placed on the remote vehicles. As a result, many command and control (C2) systems have been developed to provide the necessary tools to perform one of the following functions: controlling the unmanned vehicle or analyzing and processing the sensory data from unmanned vehicles. These C2 systems are often disparate from one another, limiting the ability to optimally distribute data among different users. The Space and Naval Warfare Systems Center Pacific (SSC Pacific) seeks to address this technology gap through the UxV to the Cloud via Widgets project. The overarching intent of this three year effort is to provide three major capabilities: 1) unmanned vehicle control using an open service oriented architecture; 2) data distribution utilizing cloud technologies; 3) a collection of web-based tools enabling analysts to better view and process data. This paper focuses on how the UxV to the Cloud via Widgets system is designed and implemented by leveraging the following technologies: Data Distribution Service (DDS), Accumulo, Hadoop, and Ozone Widget Framework (OWF).

Environmental Controls and Life Support System (ECLSS) Design for a Multi-Mission Space Exploration Vehicle (MMSEV)

NASA Technical Reports Server (NTRS)

Stambaugh, Imelda; Baccus, Shelley; Buffington, Jessie; Hood, Andrew; Naids, Adam; Borrego, Melissa; Hanford, Anthony J.; Eckhardt, Brad; Allada, Rama Kumar; Yagoda, Evan

2013-01-01

Engineers at Johnson Space Center (JSC) are developing an Environmental Control and Life Support System (ECLSS) design for the Multi-Mission Space Exploration Vehicle (MMSEV). The purpose of the MMSEV is to extend the human exploration envelope for Lunar, Near Earth Object (NEO), or Deep Space missions by using pressurized exploration vehicles. The MMSEV, formerly known as the Space Exploration Vehicle (SEV), employs ground prototype hardware for various systems and tests it in manned and unmanned configurations. Eventually, the system hardware will evolve and become part of a flight vehicle capable of supporting different design reference missions. This paper will discuss the latest MMSEV ECLSS architectures developed for a variety of design reference missions, any work contributed toward the development of the ECLSS design, lessons learned from testing prototype hardware, and the plan to advance the ECLSS toward a flight design.

Environmental Controls and Life Support System (ECLSS) Design for a Multi-Mission Space Exploration Vehicle (MMSEV)

NASA Technical Reports Server (NTRS)

Stambaugh, Imelda; Baccus, Shelley; Naids, Adam; Hanford, Anthony

2012-01-01

Engineers at Johnson Space Center (JSC) are developing an Environmental Control and Life Support System (ECLSS) design for the Multi-Mission Space Exploration Vehicle (MMSEV). The purpose of the MMSEV is to extend the human exploration envelope for Lunar, Near Earth Object (NEO), or Deep Space missions by using pressurized exploration vehicles. The MMSEV, formerly known as the Space Exploration Vehicle (SEV), employs ground prototype hardware for various systems and tests it in manned and unmanned configurations. Eventually, the system hardware will evolve and become part of a flight vehicle capable of supporting different design reference missions. This paper will discuss the latest MMSEV ECLSS architectures developed for a variety of design reference missions, any work contributed toward the development of the ECLSS design, lessons learned from testing prototype hardware, and the plan to advance the ECLSS toward a flight design.

A Simulation Study of a Speed Control System for Autonomous On-Road Operation of Automotive Vehicles.

DTIC Science & Technology

1987-06-01

by block numoiber) The study of human driving of automotive vehicles is an important aid to the development of viable autonomous vehicle navigation...of human driving which could provide some different insights into possible approaches to autonomous vehicle control. At the start of this work, it was...advanced work in the behavioral aspects of human driving . Research of this nature can have a significant impact on the development of autonomous vehicles

The Vestibular System and Human Dynamic Space Orientation

NASA Technical Reports Server (NTRS)

Meiry, J. L.

1966-01-01

The motion sensors of the vestibular system are studied to determine their role in human dynamic space orientation and manual vehicle control. The investigation yielded control models for the sensors, descriptions of the subsystems for eye stabilization, and demonstrations of the effects of motion cues on closed loop manual control. Experiments on the abilities of subjects to perceive a variety of linear motions provided data on the dynamic characteristics of the otoliths, the linear motion sensors. Angular acceleration threshold measurements supplemented knowledge of the semicircular canals, the angular motion sensors. Mathematical models are presented to describe the known control characteristics of the vestibular sensors, relating subjective perception of motion to objective motion of a vehicle. The vestibular system, the neck rotation proprioceptors and the visual system form part of the control system which maintains the eye stationary relative to a target or a reference. The contribution of each of these systems was identified through experiments involving head and body rotations about a vertical axis. Compensatory eye movements in response to neck rotation were demonstrated and their dynamic characteristics described by a lag-lead model. The eye motions attributable to neck rotations and vestibular stimulation obey superposition when both systems are active. Human operator compensatory tracking is investigated in simple vehicle orientation control system with stable and unstable controlled elements. Control of vehicle orientation to a reference is simulated in three modes: visual, motion and combined. Motion cues sensed by the vestibular system through tactile sensation enable the operator to generate more lead compensation than in fixed base simulation with only visual input. The tracking performance of the human in an unstable control system near the limits of controllability is shown to depend heavily upon the rate information provided by the vestibular sensors.

Survivability design for a hybrid underwater vehicle

DOE Office of Scientific and Technical Information (OSTI.GOV)

Wang, Biao; Wu, Chao; Li, Xiang

A novel hybrid underwater robotic vehicle (HROV) capable of working to the full ocean depth has been developed. The battery powered vehicle operates in two modes: operate as an untethered autonomous vehicle in autonomous underwater vehicle (AUV) mode and operate under remote control connected to the surface vessel by a lightweight, fiber optic tether in remotely operated vehicle (ROV) mode. Considering the hazardous underwater environment at the limiting depth and the hybrid operating modes, survivability has been placed on an equal level with the other design attributes of the HROV since the beginning of the project. This paper reports themore » survivability design elements for the HROV including basic vehicle design of integrated navigation and integrated communication, emergency recovery strategy, distributed architecture, redundant bus, dual battery package, emergency jettison system and self-repairing control system.« less

Apollo Soyuz Test Project Weights and Mass Properties Operational Management System

NASA Technical Reports Server (NTRS)

Collins, M. A., Jr.; Hischke, E. R.

1975-01-01

The Apollo Soyuz Test Project (ASTP) Weights and Mass Properties Operational Management System was established to assure a timely and authoritative method of acquiring, controlling, generating, and disseminating an official set of vehicle weights and mass properties data. This paper provides an overview of the system and its interaction with the various aspects of vehicle and component design, mission planning, hardware and software simulations and verification, and real-time mission support activities. The effect of vehicle configuration, design maturity, and consumables updates is discussed in the context of weight control.

Optimisation of active suspension control inputs for improved performance of active safety systems

NASA Astrophysics Data System (ADS)

Čorić, Mirko; Deur, Joško; Xu, Li; Tseng, H. Eric; Hrovat, Davor

2018-01-01

A collocation-type control variable optimisation method is used to investigate the extent to which the fully active suspension (FAS) can be applied to improve the vehicle electronic stability control (ESC) performance and reduce the braking distance. First, the optimisation approach is applied to the scenario of vehicle stabilisation during the sine-with-dwell manoeuvre. The results are used to provide insights into different FAS control mechanisms for vehicle performance improvements related to responsiveness and yaw rate error reduction indices. The FAS control performance is compared to performances of the standard ESC system, optimal active brake system and combined FAS and ESC configuration. Second, the optimisation approach is employed to the task of FAS-based braking distance reduction for straight-line vehicle motion. Here, the scenarios of uniform and longitudinally or laterally non-uniform tyre-road friction coefficient are considered. The influences of limited anti-lock braking system (ABS) actuator bandwidth and limit-cycle ABS behaviour are also analysed. The optimisation results indicate that the FAS can provide competitive stabilisation performance and improved agility when compared to the ESC system, and that it can reduce the braking distance by up to 5% for distinctively non-uniform friction conditions.

Simple control-theoretic models of human steering activity in visually guided vehicle control

NASA Technical Reports Server (NTRS)

Hess, Ronald A.

1991-01-01

A simple control theoretic model of human steering or control activity in the lateral-directional control of vehicles such as automobiles and rotorcraft is discussed. The term 'control theoretic' is used to emphasize the fact that the model is derived from a consideration of well-known control system design principles as opposed to psychological theories regarding egomotion, etc. The model is employed to emphasize the 'closed-loop' nature of tasks involving the visually guided control of vehicles upon, or in close proximity to, the earth and to hypothesize how changes in vehicle dynamics can significantly alter the nature of the visual cues which a human might use in such tasks.

Automated mixed traffic vehicle design AMTV 2

NASA Technical Reports Server (NTRS)

Johnston, A. R.; Marks, R. A.; Cassell, P. L.

1982-01-01

The design of an improved and enclosed Automated Mixed Traffic Transit (AMTT) vehicle is described. AMTT is an innovative concept for low-speed tram-type transit in which suitable vehicles are equipped with sensors and controls to permit them to operate in an automated mode on existing road or walkway surfaces. The vehicle chassis and body design are presented in terms of sketches and photographs. The functional design of the sensing and control system is presented, and modifications which could be made to the baseline design for improved performance, in particular to incorporate a 20-mph capability, are also discussed. The vehicle system is described at the block-diagram-level of detail. Specifications and parameter values are given where available.

The results of studies to determine the impact of far-aft center-of-gravity locations on the design of a single-stage-to-orbit vehicle system

NASA Technical Reports Server (NTRS)

Freeman, D. C., Jr.; Powell, R. W.

1979-01-01

Aft center-of-gravity locations dictated by the large number of rocket engines required has been a continuing problem of single-stage-to-orbit vehicles. Recent work at Langley has demonstrated that these aft center-of-gravity problems become more pronounced for the proposed heavy-lift mission, creating some unique design problems for both the SSTO and staged vehicle systems. During the course of this study, an effort was made to bring together automated vehicle design, wind-tunnel tests, and flight control analyses to assess the impact of longitudinal and lateral-directional instability, and control philosophy on entry vehicle design technology.

Battery charging control methods, electric vehicle charging methods, battery charging apparatuses and rechargeable battery systems

DOEpatents

Tuffner, Francis K [Richland, WA; Kintner-Meyer, Michael C. W. [Richland, WA; Hammerstrom, Donald J [West Richland, WA; Pratt, Richard M [Richland, WA

2012-05-22

Battery charging control methods, electric vehicle charging methods, battery charging apparatuses and rechargeable battery systems. According to one aspect, a battery charging control method includes accessing information regarding a presence of at least one of a surplus and a deficiency of electrical energy upon an electrical power distribution system at a plurality of different moments in time, and using the information, controlling an adjustment of an amount of the electrical energy provided from the electrical power distribution system to a rechargeable battery to charge the rechargeable battery.

Vehicle dynamics control by using a three-dimensional stabilizer pendulum system

NASA Astrophysics Data System (ADS)

Goodarzi, A.; Naghibian, M.; Choodan, D.; Khajepour, A.

2016-12-01

Active safety systems of a vehicle normally work well on tyre-road interactions, however, these systems deteriorate in performance on low-friction road conditions. To combat this effect, an innovative idea for the yaw moment and roll dynamic control is presented in this paper. This idea was inspired by the chase and run dynamics animals like cheetahs in the nature; cheetahs have the ability to swerve while running at very high speeds. A cheetah controls its dynamics by rotating its long tail. A three-dimensional stabilizer pendulum system (3D-SPS) resembles the rotational motion of the tail of a cheetah to improve the stability and safety of a vehicle. The idea has been developed in a stand-alone 3D stabilizer pendulum system as well as in an integrated control system, which consists of an ordinary differential braking direct yaw control (DYC) and active steering control that is assisted by the 3D-SPS. The performance of the proposed 3D-SPS has been evaluated over a wide range of handling manoeuvres by using a comprehensive numerical simulation. The results show the advantage of 3D-SPS over conventional control approaches, which are ineffective on low-friction road conditions and high lateral acceleration manoeuvres. It should however be noted that the best vehicle dynamics performance is obtained when an integrated 3D-SPS and DYC and AFS is utilised.

Adaptive mass expulsion attitude control system

NASA Technical Reports Server (NTRS)

Rodden, John J. (Inventor); Stevens, Homer D. (Inventor); Carrou, Stephane (Inventor)

2001-01-01

An attitude control system and method operative with a thruster controls the attitude of a vehicle carrying the thruster, wherein the thruster has a valve enabling the formation of pulses of expelled gas from a source of compressed gas. Data of the attitude of the vehicle is gathered, wherein the vehicle is located within a force field tending to orient the vehicle in a first attitude different from a desired attitude. The attitude data is evaluated to determine a pattern of values of attitude of the vehicle in response to the gas pulses of the thruster and in response to the force field. The system and the method maintain the attitude within a predetermined band of values of attitude which includes the desired attitude. Computation circuitry establishes an optimal duration of each of the gas pulses based on the pattern of values of attitude, the optimal duration providing for a minimal number of opening and closure operations of the valve. The thruster is operated to provide gas pulses having the optimal duration.

Circulation Control in NASA's Vehicle Systems

NASA Technical Reports Server (NTRS)

Rich, Paul; McKinley, Bob; Jones, Greg

2005-01-01

Specific to the application of any technology to a vehicle, such as circulation control, it is important to understand the process that NASA is using to set its direction in research and development. To see how circulation control fits into any given NASA program requires the reader to understand NASA's Vehicle Systems (VS) Program. The VS Program recently celebrated its first year of existence with an annual review - an opportunity to look back on accomplishments, solicit feedback, expand national advocacy and support for the program, and recognize key contributions. Since its formation last year, Vehicle Systems has coordinated seven existing entities in a streamlined aeronautics research effort. It invests in vehicle technologies to protect the environment, make air travel more accessible and affordable for Americans, enable exploration through new aerospace missions, and augment national security. This past year has seen a series of valuable partnerships with industry, academia, and government agencies to make crucial aeronautics advances and assure America s future in flight.

Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration. [performance tests of remote control equipment for roving vehicles

NASA Technical Reports Server (NTRS)

Gisser, D. G.; Frederick, D. K.; Sandor, G. N.; Shen, C. N.; Yerazunis, S. W.

1976-01-01

Problems related to the design and control of an autonomous rover for the purpose of unmanned exploration of the planets were considered. Building on the basis of prior studies, a four wheeled rover of unusual mobility and maneuverability was further refined and tested under both laboratory and field conditions. A second major effort was made to develop autonomous guidance. Path selection systems capable of dealing with relatively formidable hazard and terrains involving various short range (1.0-3.0 meters), hazard detection systems using a triangulation detection concept were simulated and evaluated. The mechanical/electronic systems required to implement such a scheme were constructed and tested. These systems include: laser transmitter, photodetectors, the necessary data handling/controlling systems and a scanning mast. In addition, a telemetry system to interface the vehicle, the off-board computer and a remote control module for operator intervention were developed. Software for the autonomous control concept was written. All of the systems required for complete autonomous control were shown to be satisfactory except for that portion of the software relating to the handling of interrupt commands.

Kennedy Space Center's Command and Control System - "Toasters to Rocket Ships"

NASA Technical Reports Server (NTRS)

Lougheed, Kirk; Mako, Cheryle

2011-01-01

This slide presentation reviews the history of the development of the command and control system at Kennedy Space Center. From a system that could be brought to Florida in the trunk of a car in the 1950's. Including the development of larger and more complex launch vehicles with the Apollo program where human launch controllers managed the launch process with a hardware only system that required a dedicated human interface to perform every function until the Apollo vehicle lifted off from the pad. Through the development of the digital computer that interfaced with ground launch processing systems with the Space Shuttle program. Finally, showing the future control room being developed to control the missions to return to the moon and Mars, which will maximize the use of Commercial-Off-The Shelf (COTS) hardware and software which was standards based and not tied to a single vendor. The system is designed to be flexible and adaptable to support the requirements of future spacecraft and launch vehicles.

Advanced Vehicle Control Systems Potential Tort Liability For Developers

DOT National Transportation Integrated Search

1993-12-01

AUTOMOBILE ACCIDENTS AVOIDED BECAUSE THE AUTOMATIC COLLISION AVOIDANCE SYSTEM APPLIES THE BRAKES, HIGHWAYS WHICH ACCOMMODATE MORE VEHICLES WITH FEWER ACCIDENTS, AND EVEN CARS WHICH ARE PILOTED ENTIRELY BY SOPHISTICATED ELECTRONIC SYSTEMS -- ALL OF TH...

Speed control for a mobile robot

NASA Astrophysics Data System (ADS)

Kolli, Kaylan C.; Mallikarjun, Sreeram; Kola, Krishnamohan; Hall, Ernest L.

1997-09-01

Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research on the design of a speed control for a modular autonomous mobile robot controller. The speed control of the traction motor is essential for safe operation of a mobile robot. The challenges of autonomous operation of a vehicle require safe, runaway and collision free operation. A mobile robot test-bed has been constructed using a golf cart base. The computer controlled speed control has been implemented and works with guidance provided by vision system and obstacle avoidance using ultrasonic sensors systems. A 486 computer through a 3- axis motion controller supervises the speed control. The traction motor is controlled via the computer by an EV-1 speed control. Testing of the system was done both in the lab and on an outside course with positive results. This design is a prototype and suggestions for improvements are also given. The autonomous speed controller is applicable for any computer controlled electric drive mobile vehicle.

Simulation Environment for Orion Launch Abort System Control Design Studies

NASA Technical Reports Server (NTRS)

McMinn, J. Dana; Jackson, E. Bruce; Christhilf, David M.

2007-01-01

The development and use of an interactive environment to perform control system design and analysis of the proposed Crew Exploration Vehicle Launch Abort System is described. The environment, built using a commercial dynamic systems design package, includes use of an open-source configuration control software tool and a collaborative wiki to coordinate between the simulation developers, control law developers and users. A method for switching between multiple candidate control laws and vehicle configurations is described. Aerodynamic models, especially in a development program, change rapidly, so a means for automating the implementation of new aerodynamic models is described.

An improved lateral control wheel steering law for the Transport Systems Research Vehicle (TSRV)

NASA Technical Reports Server (NTRS)

Ragsdale, W. A.

1992-01-01

A lateral control wheel steering law with improved performance was developed for the Transport Systems Research Vehicle (TSRV) simulation and used in the Microwave Landing System research project. The control law converted rotational hand controller inputs into roll rate commands, manipulated ailerons, spoilers, and the rudder to achieve the desired roll rates. The system included automatic turn coordination, track angle hold, and autopilot/autoland modes. The resulting control law produced faster roll rates (15 degrees/sec), quicker response to command reversals, and safer bank angle limits, while using a more concise program code.

The Influence of Road Bumps Characteristics on the Chaotic Vibration of a Nonlinear Full-Vehicle Model with Driver

NASA Astrophysics Data System (ADS)

Fakhraei, J.; Khanlo, H. M.; Ghayour, M.; Faramarzi, Kh.

In this paper, the chaotic behavior of a ground vehicle system with driver subjected to road disturbances is studied and the relationship between the nonlinear vibration of the vehicle and ride comfort is evaluated. The vehicle system is modeled as fully nonlinear with seven degrees of freedom and an additional degree of freedom for driver (8-DOF). The excitation force is the road irregularities that are assumed as road speed control bumps. The sinusoidal, consecutive half-sine and dented-rectangular waveforms are considered to simulate the road speed control bumps. The nonlinearities of the system are due to the nonlinear springs and dampers that are used in the suspension system and tires. The governing differential equations are extracted under Newton-Euler laws and solved via numerical methods. The chaotic behaviors were studied in more detail with special techniques such as bifurcation diagrams, phase plane portrait, Poincaré map and Lyapunov exponents. The ride comfort was evaluated as the RMS value of the vertical displacement of the vehicle body and driver. Firstly, the effect of amplitude (height) and frequency (vehicle’s speed) of these speed control bumps on chaotic vibrations of vehicle are studied. The obtained results show that various forms of vibrations, such as periodic, subharmonic and chaotic vibrations, can be detected in the system behavior with the change of the height and frequency of speed control bumps and present different types of strange attractors in the vehicle with and without driver. Then, the influence of nonlinear vibration on ride comfort and the relationship between chaotic vibrations of the vehicle and driving comfort are investigated. The results of analyzing the RMS diagrams reveal that the chaotic behaviors can directly affect the driving comfort and lead to the driver’s comfort being reduced. The obtained results can be used in the design of vehicle and road bumps pavement.

VEHIOT: Design and Evaluation of an IoT Architecture Based on Low-Cost Devices to Be Embedded in Production Vehicles.

PubMed

Redondo, Jonatan Pajares; González, Lisardo Prieto; Guzman, Javier García; Boada, Beatriz L; Díaz, Vicente

2018-02-06

Nowadays, the current vehicles are incorporating control systems in order to improve their stability and handling. These control systems need to know the vehicle dynamics through the variables (lateral acceleration, roll rate, roll angle, sideslip angle, etc.) that are obtained or estimated from sensors. For this goal, it is necessary to mount on vehicles not only low-cost sensors, but also low-cost embedded systems, which allow acquiring data from sensors and executing the developed algorithms to estimate and to control with novel higher speed computing. All these devices have to be integrated in an adequate architecture with enough performance in terms of accuracy, reliability and processing time. In this article, an architecture to carry out the estimation and control of vehicle dynamics has been developed. This architecture was designed considering the basic principles of IoT and integrates low-cost sensors and embedded hardware for orchestrating the experiments. A comparison of two different low-cost systems in terms of accuracy, acquisition time and reliability has been done. Both devices have been compared with the VBOX device from Racelogic, which has been used as the ground truth. The comparison has been made from tests carried out in a real vehicle. The lateral acceleration and roll rate have been analyzed in order to quantify the error of these devices.

VEHIOT: Design and Evaluation of an IoT Architecture Based on Low-Cost Devices to Be Embedded in Production Vehicles

PubMed Central

Díaz, Vicente

2018-01-01

Nowadays, the current vehicles are incorporating control systems in order to improve their stability and handling. These control systems need to know the vehicle dynamics through the variables (lateral acceleration, roll rate, roll angle, sideslip angle, etc.) that are obtained or estimated from sensors. For this goal, it is necessary to mount on vehicles not only low-cost sensors, but also low-cost embedded systems, which allow acquiring data from sensors and executing the developed algorithms to estimate and to control with novel higher speed computing. All these devices have to be integrated in an adequate architecture with enough performance in terms of accuracy, reliability and processing time. In this article, an architecture to carry out the estimation and control of vehicle dynamics has been developed. This architecture was designed considering the basic principles of IoT and integrates low-cost sensors and embedded hardware for orchestrating the experiments. A comparison of two different low-cost systems in terms of accuracy, acquisition time and reliability has been done. Both devices have been compared with the VBOX device from Racelogic, which has been used as the ground truth. The comparison has been made from tests carried out in a real vehicle. The lateral acceleration and roll rate have been analyzed in order to quantify the error of these devices. PMID:29415507

Computer program for post-flight evaluation of a launch vehicle upper-stage on-off reaction control system

NASA Technical Reports Server (NTRS)

Knauber, R. N.

1982-01-01

This report describes a FORTRAN IV coded computer program for post-flight evaluation of a launch vehicle upper stage on-off reaction control system. Aerodynamic and thrust misalignment disturbances are computed as well as the total disturbing moments in pitch, yaw, and roll. Effective thrust misalignment angle time histories of the rocket booster motor are calculated. Disturbing moments are integrated and used to estimate the required control system total inpulse. Effective control system specific inpulse is computed for the boost and coast phases using measured control fuel useage. This method has been used for more than fifteen years for analyzing the NASA Scout launch vehicle second and third-stage reaction control system performance. The computer program is set up in FORTRAN IV for a CDC CYBER 175 system. With slight modification it can be used on other machines having a FORTRAN compiler. The program has optional CALCOMP plotting output. With this option the program requires 19K words of memory and has 786 cards. Running time on a CDC CYBER 175 system is less than three (3) seconds for a typical problem.

Hypersonic vehicle control law development using H infinity and mu-synthesis

NASA Technical Reports Server (NTRS)

Gregory, Irene M.; Chowdhry, Rajiv S.; Mcminn, John D.; Shaughnessy, John D.

1992-01-01

Applicability and effectiveness of robust control techniques to a single-stage-to-orbit (SSTO) airbreathing hypersonic vehicle on an ascent accelerating path and their effectiveness are explored in this paper. An SSTO control system design problem, requiring high accuracy tracking of velocity and altitude commands while limiting angle of attack oscillations, minimizing control power usage and stabilizing the vehicle all in the presence of atmospheric turbulence and uncertainty in the system, was formulated to compare results of the control designs using H infinity and mu-synthesis procedures. The math model, an integrated flight/propulsion dynamic model of a conical accelerator class vehicle, was linearized as the vehicle accelerated through Mach 8. Controller analysis was conducted using the singular value technique and the mu-analysis approach. Analysis results were obtained in both the frequency and the time domains. The results clearly demonstrate the inherent advantages of the structured singular value framework for this class of problems. Since payload performance margins are so critical for the SSTO mission, it is crucial that adequate stability margins be provided without sacrificing any payload mass.

A Novel Multi-Sensor Environmental Perception Method Using Low-Rank Representation and a Particle Filter for Vehicle Reversing Safety

PubMed Central

Zhang, Zutao; Li, Yanjun; Wang, Fubing; Meng, Guanjun; Salman, Waleed; Saleem, Layth; Zhang, Xiaoliang; Wang, Chunbai; Hu, Guangdi; Liu, Yugang

2016-01-01

Environmental perception and information processing are two key steps of active safety for vehicle reversing. Single-sensor environmental perception cannot meet the need for vehicle reversing safety due to its low reliability. In this paper, we present a novel multi-sensor environmental perception method using low-rank representation and a particle filter for vehicle reversing safety. The proposed system consists of four main steps, namely multi-sensor environmental perception, information fusion, target recognition and tracking using low-rank representation and a particle filter, and vehicle reversing speed control modules. First of all, the multi-sensor environmental perception module, based on a binocular-camera system and ultrasonic range finders, obtains the distance data for obstacles behind the vehicle when the vehicle is reversing. Secondly, the information fusion algorithm using an adaptive Kalman filter is used to process the data obtained with the multi-sensor environmental perception module, which greatly improves the robustness of the sensors. Then the framework of a particle filter and low-rank representation is used to track the main obstacles. The low-rank representation is used to optimize an objective particle template that has the smallest L-1 norm. Finally, the electronic throttle opening and automatic braking is under control of the proposed vehicle reversing control strategy prior to any potential collisions, making the reversing control safer and more reliable. The final system simulation and practical testing results demonstrate the validity of the proposed multi-sensor environmental perception method using low-rank representation and a particle filter for vehicle reversing safety. PMID:27294931

A Novel Multi-Sensor Environmental Perception Method Using Low-Rank Representation and a Particle Filter for Vehicle Reversing Safety.

PubMed

Zhang, Zutao; Li, Yanjun; Wang, Fubing; Meng, Guanjun; Salman, Waleed; Saleem, Layth; Zhang, Xiaoliang; Wang, Chunbai; Hu, Guangdi; Liu, Yugang

2016-06-09

Environmental perception and information processing are two key steps of active safety for vehicle reversing. Single-sensor environmental perception cannot meet the need for vehicle reversing safety due to its low reliability. In this paper, we present a novel multi-sensor environmental perception method using low-rank representation and a particle filter for vehicle reversing safety. The proposed system consists of four main steps, namely multi-sensor environmental perception, information fusion, target recognition and tracking using low-rank representation and a particle filter, and vehicle reversing speed control modules. First of all, the multi-sensor environmental perception module, based on a binocular-camera system and ultrasonic range finders, obtains the distance data for obstacles behind the vehicle when the vehicle is reversing. Secondly, the information fusion algorithm using an adaptive Kalman filter is used to process the data obtained with the multi-sensor environmental perception module, which greatly improves the robustness of the sensors. Then the framework of a particle filter and low-rank representation is used to track the main obstacles. The low-rank representation is used to optimize an objective particle template that has the smallest L-1 norm. Finally, the electronic throttle opening and automatic braking is under control of the proposed vehicle reversing control strategy prior to any potential collisions, making the reversing control safer and more reliable. The final system simulation and practical testing results demonstrate the validity of the proposed multi-sensor environmental perception method using low-rank representation and a particle filter for vehicle reversing safety.

Experimental evaluation of HJB optimal controllers for the attitude dynamics of a multirotor aerial vehicle.

PubMed

Prado, Igor Afonso Acampora; Pereira, Mateus de Freitas Virgílio; de Castro, Davi Ferreira; Dos Santos, Davi Antônio; Balthazar, Jose Manoel

2018-06-01

The present paper is concerned with the design and experimental evaluation of optimal control laws for the nonlinear attitude dynamics of a multirotor aerial vehicle. Three design methods based on Hamilton-Jacobi-Bellman equation are taken into account. The first one is a linear control with guarantee of stability for nonlinear systems. The second and third are a nonlinear suboptimal control techniques. These techniques are based on an optimal control design approach that takes into account the nonlinearities present in the vehicle dynamics. The stability Proof of the closed-loop system is presented. The performance of the control system designed is evaluated via simulations and also via an experimental scheme using the Quanser 3-DOF Hover. The experiments show the effectiveness of the linear control method over the nonlinear strategy. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Development and Control of the Naval Postgraduate School Planar Autonomous Docking Simulator (NPADS)

NASA Astrophysics Data System (ADS)

Porter, Robert D.

2002-09-01

The objective of this thesis was to design, construct and develop the initial autonomous control algorithm for the NPS Planar Autonomous Docking Simulator (NPADS) The effort included hardware design, fabrication, installation and integration; mass property determination; and the development and testing of control laws utilizing MATLAB and Simulink for modeling and LabView for NPADS control, The NPADS vehicle uses air pads and a granite table to simulate a 2-D, drag-free, zero-g space environment, It is a completely self-contained vehicle equipped with eight cold-gas, bang-bang type thrusters and a reaction wheel for motion control, A 'star sensor' CCD camera locates the vehicle on the table while a color CCD docking camera and two robotic arms will locate and dock with a target vehicle, The on-board computer system leverages PXI technology and a single source, simplifying systems integration, The vehicle is powered by two lead-acid batteries for completely autonomous operation, A graphical user interface and wireless Ethernet enable the user to command and monitor the vehicle from a remote command and data acquisition computer. Two control algorithms were developed and allow the user to either control the thrusters and reaction wheel manually or simply specify a desired location and rotation angle,

Flight-vehicle materials, structures, and dynamics - Assessment and future directions. Vol. 5 - Structural dynamics and aeroelasticity

NASA Technical Reports Server (NTRS)

Noor, Ahmed K. (Editor); Venneri, Samuel L. (Editor)

1993-01-01

Various papers on flight vehicle materials, structures, and dynamics are presented. Individual topics addressed include: general modeling methods, component modeling techniques, time-domain computational techniques, dynamics of articulated structures, structural dynamics in rotating systems, structural dynamics in rotorcraft, damping in structures, structural acoustics, structural design for control, structural modeling for control, control strategies for structures, system identification, overall assessment of needs and benefits in structural dynamics and controlled structures. Also discussed are: experimental aeroelasticity in wind tunnels, aeroservoelasticity, nonlinear aeroelasticity, aeroelasticity problems in turbomachines, rotary-wing aeroelasticity with application to VTOL vehicles, computational aeroelasticity, structural dynamic testing and instrumentation.

Optimization and Control of Cyber-Physical Vehicle Systems

PubMed Central

Bradley, Justin M.; Atkins, Ella M.

2015-01-01

A cyber-physical system (CPS) is composed of tightly-integrated computation, communication and physical elements. Medical devices, buildings, mobile devices, robots, transportation and energy systems can benefit from CPS co-design and optimization techniques. Cyber-physical vehicle systems (CPVSs) are rapidly advancing due to progress in real-time computing, control and artificial intelligence. Multidisciplinary or multi-objective design optimization maximizes CPS efficiency, capability and safety, while online regulation enables the vehicle to be responsive to disturbances, modeling errors and uncertainties. CPVS optimization occurs at design-time and at run-time. This paper surveys the run-time cooperative optimization or co-optimization of cyber and physical systems, which have historically been considered separately. A run-time CPVS is also cooperatively regulated or co-regulated when cyber and physical resources are utilized in a manner that is responsive to both cyber and physical system requirements. This paper surveys research that considers both cyber and physical resources in co-optimization and co-regulation schemes with applications to mobile robotic and vehicle systems. Time-varying sampling patterns, sensor scheduling, anytime control, feedback scheduling, task and motion planning and resource sharing are examined. PMID:26378541

Optimization and Control of Cyber-Physical Vehicle Systems.

PubMed

Bradley, Justin M; Atkins, Ella M

2015-09-11

A cyber-physical system (CPS) is composed of tightly-integrated computation, communication and physical elements. Medical devices, buildings, mobile devices, robots, transportation and energy systems can benefit from CPS co-design and optimization techniques. Cyber-physical vehicle systems (CPVSs) are rapidly advancing due to progress in real-time computing, control and artificial intelligence. Multidisciplinary or multi-objective design optimization maximizes CPS efficiency, capability and safety, while online regulation enables the vehicle to be responsive to disturbances, modeling errors and uncertainties. CPVS optimization occurs at design-time and at run-time. This paper surveys the run-time cooperative optimization or co-optimization of cyber and physical systems, which have historically been considered separately. A run-time CPVS is also cooperatively regulated or co-regulated when cyber and physical resources are utilized in a manner that is responsive to both cyber and physical system requirements. This paper surveys research that considers both cyber and physical resources in co-optimization and co-regulation schemes with applications to mobile robotic and vehicle systems. Time-varying sampling patterns, sensor scheduling, anytime control, feedback scheduling, task and motion planning and resource sharing are examined.

A Generic Inner-Loop Control Law Structure for Six-Degree-of-Freedom Conceptual Aircraft Design

NASA Technical Reports Server (NTRS)

Cox, Timothy H.; Cotting, M. Christopher

2005-01-01

A generic control system framework for both real-time and batch six-degree-of-freedom simulations is presented. This framework uses a simplified dynamic inversion technique to allow for stabilization and control of any type of aircraft at the pilot interface level. The simulation, designed primarily for the real-time simulation environment, also can be run in a batch mode through a simple guidance interface. Direct vehicle-state acceleration feedback is required with the simplified dynamic inversion technique. The estimation of surface effectiveness within real-time simulation timing constraints also is required. The generic framework provides easily modifiable control variables, allowing flexibility in the variables that the pilot commands. A direct control allocation scheme is used to command aircraft effectors. Primary uses for this system include conceptual and preliminary design of aircraft, when vehicle models are rapidly changing and knowledge of vehicle six-degree-of-freedom performance is required. A simulated airbreathing hypersonic vehicle and simulated high-performance fighter aircraft are used to demonstrate the flexibility and utility of the control system.

A Generic Inner-Loop Control Law Structure for Six-Degree-of-Freedom Conceptual Aircraft Design

NASA Technical Reports Server (NTRS)

Cox, Timothy H.; Cotting, Christopher

2005-01-01

A generic control system framework for both real-time and batch six-degree-of-freedom (6-DOF) simulations is presented. This framework uses a simplified dynamic inversion technique to allow for stabilization and control of any type of aircraft at the pilot interface level. The simulation, designed primarily for the real-time simulation environment, also can be run in a batch mode through a simple guidance interface. Direct vehicle-state acceleration feedback is required with the simplified dynamic inversion technique. The estimation of surface effectiveness within real-time simulation timing constraints also is required. The generic framework provides easily modifiable control variables, allowing flexibility in the variables that the pilot commands. A direct control allocation scheme is used to command aircraft effectors. Primary uses for this system include conceptual and preliminary design of aircraft, when vehicle models are rapidly changing and knowledge of vehicle 6-DOF performance is required. A simulated airbreathing hypersonic vehicle and simulated high-performance fighter aircraft are used to demonstrate the flexibility and utility of the control system.

Full drive-by-wire dynamic control for four-wheel-steer all-wheel-drive vehicles

NASA Astrophysics Data System (ADS)

Fahimi, Farbod

2013-03-01

Most of the controllers introduced for four-wheel-steer (4WS) vehicles are derived with the assumption that the longitudinal speed of the vehicle is constant. However, in real applications, the longitudinal speed varies, and the longitudinal, lateral, and yaw dynamics are coupled. In this paper, the longitudinal dynamics of the vehicle as well as its lateral and yaw motions are controlled simultaneously. This way, the effect of driving/braking forces of the tires on the lateral and yaw motions of the vehicle are automatically included in the control laws. To address the dynamic parameter uncertainty of the vehicle, a chatter-free variable structure controller is introduced. Elimination of chatter is achieved by introducing a dynamically adaptive boundary layer thickness. It is shown via simulations that the proposed control approach performs more robustly than the controllers developed based on dynamic models, in which longitudinal speed is assumed to be constant, and only lateral speed and yaw rate are used as system states. Furthermore, this approach supports all-wheel-drive vehicles. Front-wheel-drive or rear-wheel-drive vehicles are also supported as special cases of an all-wheel-drive vehicle.

Effects of automobile steering characteristics on driver vehicle system dynamics in regulation tasks

NASA Technical Reports Server (NTRS)

Mcruer, D. T.; Klein, R.

1975-01-01

A regulation task which subjected the automobile to a random gust disturbance which is countered by driver control action is used to study the effects of various automobile steering characteristics on the driver/vehicle system. The experiments used a variable stability automobile specially configured to permit insertion of the simulated gust disturbance and the measurement of the driver/vehicle system characteristics. Driver/vehicle system dynamics were measured and interpreted as an effective open loop system describing function. Objective measures of system bandwidth, stability, and time delays were deduced and compared. These objective measures were supplemented by driver ratings. A tentative optimum range of vehicle dynamics for the directional regulation task was established.

An adaptable, low cost test-bed for unmanned vehicle systems research

NASA Astrophysics Data System (ADS)

Goppert, James M.

2011-12-01

An unmanned vehicle systems test-bed has been developed. The test-bed has been designed to accommodate hardware changes and various vehicle types and algorithms. The creation of this test-bed allows research teams to focus on algorithm development and employ a common well-tested experimental framework. The ArduPilotOne autopilot was developed to provide the necessary level of abstraction for multiple vehicle types. The autopilot was also designed to be highly integrated with the Mavlink protocol for Micro Air Vehicle (MAV) communication. Mavlink is the native protocol for QGroundControl, a MAV ground control program. Features were added to QGroundControl to accommodate outdoor usage. Next, the Mavsim toolbox was developed for Scicoslab to allow hardware-in-the-loop testing, control design and analysis, and estimation algorithm testing and verification. In order to obtain linear models of aircraft dynamics, the JSBSim flight dynamics engine was extended to use a probabilistic Nelder-Mead simplex method. The JSBSim aircraft dynamics were compared with wind-tunnel data collected. Finally, a structured methodology for successive loop closure control design is proposed. This methodology is demonstrated along with the rest of the test-bed tools on a quadrotor, a fixed wing RC plane, and a ground vehicle. Test results for the ground vehicle are presented.

40 CFR 86.1863-07 - Optional chassis certification for diesel vehicles.

Code of Federal Regulations, 2014 CFR

2014-07-01

... be tested using the test fuels, sampling systems, or analytical systems specified for diesel engines... diesel vehicles. 86.1863-07 Section 86.1863-07 Protection of Environment ENVIRONMENTAL PROTECTION AGENCY (CONTINUED) AIR PROGRAMS (CONTINUED) CONTROL OF EMISSIONS FROM NEW AND IN-USE HIGHWAY VEHICLES AND ENGINES...

40 CFR 86.429-78 - Maintenance, unscheduled; test vehicles.

Code of Federal Regulations, 2012 CFR

2012-07-01

..., unscheduled; test vehicles. (a) Any unscheduled engine, emission control system, or fuel system adjustment... vehicles in use, and does not require direct access to the combustion chamber, except for spark plug, fuel injection component, or removable prechamber removal or replacement; and (ii) Has made a determination that...

40 CFR 86.429-78 - Maintenance, unscheduled; test vehicles.

Code of Federal Regulations, 2014 CFR

2014-07-01

..., unscheduled; test vehicles. (a) Any unscheduled engine, emission control system, or fuel system adjustment... vehicles in use, and does not require direct access to the combustion chamber, except for spark plug, fuel injection component, or removable prechamber removal or replacement; and (ii) Has made a determination that...

Intelligent Vehicle Health Management

NASA Technical Reports Server (NTRS)

Paris, Deidre E.; Trevino, Luis; Watson, Michael D.

2005-01-01

As a part of the overall goal of developing Integrated Vehicle Health Management systems for aerospace vehicles, the NASA Faculty Fellowship Program (NFFP) at Marshall Space Flight Center has performed a pilot study on IVHM principals which integrates researched IVHM technologies in support of Integrated Intelligent Vehicle Management (IIVM). IVHM is the process of assessing, preserving, and restoring system functionality across flight and ground systems (NASA NGLT 2004). The framework presented in this paper integrates advanced computational techniques with sensor and communication technologies for spacecraft that can generate responses through detection, diagnosis, reasoning, and adapt to system faults in support of INM. These real-time responses allow the IIVM to modify the affected vehicle subsystem(s) prior to a catastrophic event. Furthermore, the objective of this pilot program is to develop and integrate technologies which can provide a continuous, intelligent, and adaptive health state of a vehicle and use this information to improve safety and reduce costs of operations. Recent investments in avionics, health management, and controls have been directed towards IIVM. As this concept has matured, it has become clear the INM requires the same sensors and processing capabilities as the real-time avionics functions to support diagnosis of subsystem problems. New sensors have been proposed, in addition, to augment the avionics sensors to support better system monitoring and diagnostics. As the designs have been considered, a synergy has been realized where the real-time avionics can utilize sensors proposed for diagnostics and prognostics to make better real-time decisions in response to detected failures. IIVM provides for a single system allowing modularity of functions and hardware across the vehicle. The framework that supports IIVM consists of 11 major on-board functions necessary to fully manage a space vehicle maintaining crew safety and mission objectives: Guidance and Navigation; Communications and Tracking; Vehicle Monitoring; Information Transport and Integration; Vehicle Diagnostics; Vehicle Prognostics; Vehicle mission Planning; Automated Repair and Replacement; Vehicle Control; Human Computer Interface; and Onboard Verification and Validation. Furthermore, the presented framework provides complete vehicle management which not only allows for increased crew safety and mission success through new intelligence capabilities, but also yields a mechanism for more efficient vehicle operations. The representative IVHM technologies for computer platform using heterogeneous communication, 3) coupled electromagnetic oscillators for enhanced communications, 4) Linux-based real-time systems, 5) genetic algorithms, 6) Bayesian Networks, 7) evolutionary algorithms, 8) dynamic systems control modeling, and 9) advanced sensing capabilities. This paper presents IVHM technologies developed under NASA's NFFP pilot project and the integration of these technologies forms the framework for IIVM.

Design and Stability of an On-Orbit Attitude Control System Using Reaction Control Thrusters

NASA Technical Reports Server (NTRS)

Hall, Robert A.; Hough, Steven; Orphee, Carolina; Clements, Keith

2015-01-01

Principles for the design and stability of a spacecraft on-orbit attitude control system employing on-off Reaction Control System (RCS) thrusters is presented. Both the vehicle dynamics and the control system actuators are inherently nonlinear, hence traditional linear control system design approaches are not directly applicable. This paper has three main aspects: It summarizes key RCS control System design principles from the Space Shuttle and Space Station programs, it demonstrates a new approach to develop a linear model of a phase plane control system using describing functions, and applies each of these to the initial development of the NASA's next generation of upper stage vehicles. Topics addressed include thruster hardware specifications, phase plane design and stability, jet selection approaches, filter design metrics, and automaneuver logic.

Early Synthetic Prototyping: Exploring Designs and Concepts Within Games

DTIC Science & Technology

2014-12-01

UAS unmanned aircraft system UGV unmanned ground vehicle USD(AT&L) Under Secretary of Defense for Acquisition, Technology, and Logistics... unmanned aircraft system (UAS) realm for the wingman concept? The players were familiar with the Marine Corps’ unmanned tactical autonomous control and...UTACCS Unmanned Tactical Autonomous Control and Collaboration System VBIED vehicle borne improvised explosive device VBS2/3 Virtual Battlespace

VLSI chips for vision-based vehicle guidance

NASA Astrophysics Data System (ADS)

Masaki, Ichiro

1994-02-01

Sensor-based vehicle guidance systems are gathering rapidly increasing interest because of their potential for increasing safety, convenience, environmental friendliness, and traffic efficiency. Examples of applications include intelligent cruise control, lane following, collision warning, and collision avoidance. This paper reviews the research trends in vision-based vehicle guidance with an emphasis on VLSI chip implementations of the vision systems. As an example of VLSI chips for vision-based vehicle guidance, a stereo vision system is described in detail.

EV-Grid Integration (EVGI) Control and System Implementation - Research Overview

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kisacikoglu, Mithat; Markel, Tony; Meintz, Andrew

2016-03-23

Plug-in electric vehicles (PEVs) are being increasingly adopted in industry today. Microgrid applications of PEVs require the development of charging and discharging algorithms and individual characterization of vehicles including the on-board chargers and vehicle mobility. This study summarizes the capabilities of the Electric Vehicle Grid Integration (EVGI) Team at NREL and underlines different recent projects of the Team. Our studies include V1G, V2G, and V2H control of PEVs as well as test and analysis of stationary and dynamic wireless power transfer (WPT) systems. The presentation also includes the future scope of study which implements real-time simulation of PEVs in amore » microgrid scenario. The capabilities at Vehicle Testing and Integration Facility (VTIF) and Energy Systems Integration Facility (ESIF) were described within the scope of the EVGI research.« less

Elevation scanning laser/multi-sensor hazard detection system controller and mirror/mast speed control components. [roving vehicle electromechanical devices

NASA Technical Reports Server (NTRS)

Craig, J.; Yerazunis, S. W.

1978-01-01

The electro-mechanical and electronic systems involved with pointing a laser beam from a roving vehicle along a desired vector are described. A rotating 8 sided mirror, driven by a phase-locked dc motor servo system, and monitored by a precision optical shaft encoder is used. This upper assembly is then rotated about an orthogonal axis to allow scanning into all 360 deg around the vehicle. This axis is also driven by a phase locked dc motor servo-system, and monitored with an optical shaft encoder. The electronics are realized in standard TTL integrated circuits with UV-erasable proms used to store desired coordinates of laser fire. Related topics such as the interface to the existing test vehicle are discussed.

Detail design of empennage of an unmanned aerial vehicle

NASA Astrophysics Data System (ADS)

Sarker, Md. Samad; Panday, Shoyon; Rasel, Md; Salam, Md. Abdus; Faisal, Kh. Md.; Farabi, Tanzimul Hasan

2017-12-01

In order to maintain the operational continuity of air defense systems, unmanned autonomous or remotely controlled unmanned aerial vehicle (UAV) plays a great role as a target for the anti-aircraft weapons. The aerial vehicle must comply with the requirements of high speed, remotely controlled tracking and navigational aids, operational sustainability and sufficient loiter time. It can also be used for aerial reconnaissance, ground surveillance and other intelligence operations. This paper aims to develop a complete tail design of an unmanned aerial vehicle using Systems Engineering approach. The design fulfils the requirements of longitudinal and directional trim, stability and control provided by the horizontal and vertical tail. Tail control surfaces are designed to provide sufficient control of the aircraft in critical conditions. Design parameters obtained from wing design are utilized in the tail design process as required. Through chronological calculations and successive iterations, optimum values of 26 tail design parameters are determined.

An electromechanical actuation system for an expendable launch vehicle

NASA Technical Reports Server (NTRS)

Burrows, Linda M.; Roth, Mary E.

1992-01-01

A major effort at NASA-Lewis in recent years has been to develop electro-mechanical actuators (EMA's) to replace the hydraulic systems used for thrust vector control (TVC) on launch vehicles. This is an attempt to overcome the inherent inefficiencies and costs associated with the existing hydraulic structures. General Dynamics Space Systems Division, under contract to NASA Lewis, is developing 18.6 kW (25 hp), 29.8 kW (40 hp), and 52.2 kW (70 hp) peak EMA systems to meet the power demands for TVC on a family of vehicles developed for the National Launch System. These systems utilize a pulse population modulated converter and field-oriented control scheme to obtain independent control of both the voltage and frequency. These techniques allow an induction motor to be operated at its maximum torque at all times.

Communication and Control for Fleets of Autonomous Underwater Vehicles

DTIC Science & Technology

2006-10-30

Washington State University (WSU) on fuzzy logic control systems [2-4] and autonomous vehicles [5-10]. The ALWSE-MC program developed at NAVSEA CSS was...rotating head sonar on crawlers as an additional sensor for navigation. We have previously investigated the use of video cameras on autonomous vehicles for...simulates autonomous vehicles performing mine reconnaissance/mapping, clearance, and surveillance in a littoral region. Three simulations were preformed

Reentry Vehicle Flight Controls Design Guidelines: Dynamic Inversion

NASA Technical Reports Server (NTRS)

Ito, Daigoro; Georgie, Jennifer; Valasek, John; Ward, Donald T.

2002-01-01

This report addresses issues in developing a flight control design for vehicles operating across a broad flight regime and with highly nonlinear physical descriptions of motion. Specifically it addresses the need for reentry vehicles that could operate through reentry from space to controlled touchdown on Earth. The latter part of controlled descent is achieved by parachute or paraglider - or by all automatic or a human-controlled landing similar to that of the Orbiter. Since this report addresses the specific needs of human-carrying (not necessarily piloted) reentry vehicles, it deals with highly nonlinear equations of motion, and then-generated control systems must be robust across a very wide range of physics. Thus, this report deals almost exclusively with some form of dynamic inversion (DI). Two vital aspects of control theory - noninteracting control laws and the transformation of nonlinear systems into equivalent linear systems - are embodied in DI. Though there is no doubt that the mathematical tools and underlying theory are widely available, there are open issues as to the practicality of using DI as the only or primary design approach for reentry articles. This report provides a set of guidelines that can be used to determine the practical usefulness of the technique.

Stability Assessment and Tuning of an Adaptively Augmented Classical Controller for Launch Vehicle Flight Control

NASA Technical Reports Server (NTRS)

VanZwieten, Tannen; Zhu, J. Jim; Adami, Tony; Berry, Kyle; Grammar, Alex; Orr, Jeb S.; Best, Eric A.

2014-01-01

Recently, a robust and practical adaptive control scheme for launch vehicles [ [1] has been introduced. It augments a classical controller with a real-time loop-gain adaptation, and it is therefore called Adaptive Augmentation Control (AAC). The loop-gain will be increased from the nominal design when the tracking error between the (filtered) output and the (filtered) command trajectory is large; whereas it will be decreased when excitation of flex or sloshing modes are detected. There is a need to determine the range and rate of the loop-gain adaptation in order to retain (exponential) stability, which is critical in vehicle operation, and to develop some theoretically based heuristic tuning methods for the adaptive law gain parameters. The classical launch vehicle flight controller design technics are based on gain-scheduling, whereby the launch vehicle dynamics model is linearized at selected operating points along the nominal tracking command trajectory, and Linear Time-Invariant (LTI) controller design techniques are employed to ensure asymptotic stability of the tracking error dynamics, typically by meeting some prescribed Gain Margin (GM) and Phase Margin (PM) specifications. The controller gains at the design points are then scheduled, tuned and sometimes interpolated to achieve good performance and stability robustness under external disturbances (e.g. winds) and structural perturbations (e.g. vehicle modeling errors). While the GM does give a bound for loop-gain variation without losing stability, it is for constant dispersions of the loop-gain because the GM is based on frequency-domain analysis, which is applicable only for LTI systems. The real-time adaptive loop-gain variation of the AAC effectively renders the closed-loop system a time-varying system, for which it is well-known that the LTI system stability criterion is neither necessary nor sufficient when applying to a Linear Time-Varying (LTV) system in a frozen-time fashion. Therefore, a generalized stability metric for time-varying loop=gain perturbations is needed for the AAC.

IVHM Framework for Intelligent Integration for Vehicle Health Management

NASA Technical Reports Server (NTRS)

Paris, Deidre; Trevino, Luis C.; Watson, Michael D.

2005-01-01

Integrated Vehicle Health Management (IVHM) systems for aerospace vehicles, is the process of assessing, preserving, and restoring system functionality across flight and techniques with sensor and communication technologies for spacecraft that can generate responses through detection, diagnosis, reasoning, and adapt to system faults in support of Integrated Intelligent Vehicle Management (IIVM). These real-time responses allow the IIVM to modify the affected vehicle subsystem(s) prior to a catastrophic event. Furthermore, this framework integrates technologies which can provide a continuous, intelligent, and adaptive health state of a vehicle and use this information to improve safety and reduce costs of operations. Recent investments in avionics, health management, and controls have been directed towards IIVM. As this concept has matured, it has become clear that IIVM requires the same sensors and processing capabilities as the real-time avionics functions to support diagnosis of subsystem problems. New sensors have been proposed, in addition to augment the avionics sensors to support better system monitoring and diagnostics. As the designs have been considered, a synergy has been realized where the real-time avionics can utilize sensors proposed for diagnostics and prognostics to make better real-time decisions in response to detected failures. IIVM provides for a single system allowing modularity of functions and hardware across the vehicle. The framework that supports IIVM consists of 11 major on-board functions necessary to fully manage a space vehicle maintaining crew safety and mission objectives. These systems include the following: Guidance and Navigation; Communications and Tracking; Vehicle Monitoring; Information Transport and Integration; Vehicle Diagnostics; Vehicle Prognostics; Vehicle Mission Planning, Automated Repair and Replacement; Vehicle Control; Human Computer Interface; and Onboard Verification and Validation. Furthermore, the presented framework provides complete vehicle management which not only allows for increased crew safety and mission success through new intelligence capabilities, but also yields a mechanism for more efficient vehicle operations.

Crew Exploration Vehicle Environmental Control and Life Support Development Status

NASA Technical Reports Server (NTRS)

Lewis, John F.; Barido, Richard; Carrasquillo, Robyn; Cross, Cindy; Peterson, Laurie; Tuan, George

2009-01-01

The Orion Crew Exploration Vehicle (CEV) is the first crew transport vehicle to be developed by the National Aeronautics and Space Administration (NASA) in the last thirty years. The CEV is being developed to transport the crew safely from the Earth to the Moon and back again. This year, the vehicle continued to go through design refinements to reduce weight, meet requirements, and operate reliably. Preliminary Design Review was performed and long lead procurement items were started. The design of the Orion Environmental Control and Life Support (ECLS) system, which includes the life support and active thermal control systems, is progressing through the design stage into manufacturing. This paper covers the Orion ECLS development from April 2009 to April 2010.

Crew Exploration Vehicle Environmental Control and Life Support Ddevelopment Status

NASA Technical Reports Server (NTRS)

Lewis, John F.; Barido, Richard A.; Carrasquillo, Robyn; Cross, Cynthia d.; Rains, Ed; Tuan, George C.

2010-01-01

The Orion Crew Exploration Vehicle (CEV) is the first crew transport vehicle to be developed by the National Aeronautics and Space Administration (NASA) in the last thirty years. The CEV is being developed to transport the crew safely from the Earth to the Moon and back again. This year, the vehicle continued to go through design refinements to reduce weight, meet requirements, and operate reliably. Preliminary Design Review was performed and long lead procurement items were started. The design of the Orion Environmental Control and Life Support (ECLS) system, which includes the life support and active thermal control systems, is progressing through the design stage into manufacturing. This paper covers the Orion ECLS development from April 2009 to April 2010

Control system for a 373 kW, intercooled, two-spool gas turbine engine powering a hybrid electric world sports car class vehicle

DOE Office of Scientific and Technical Information (OSTI.GOV)

Shortlidge, C.C.

SatCon technology Corporation has completed design, fabrication, and the first round of test of a 373 kW (500 hp), two-spool, intercooled gas turbine engine with integral induction type alternators. This turbine alternator is the prime mover for a World Sports Car class hybrid electric vehicle under development by Chrysler Corporation. The complete hybrid electric vehicle propulsion system features the 373 kW (500 hp) turbine alternator unit, a 373 kW (500 hp) 3.25 kW-h (4.36 hp-h) flywheel, a 559 kW (750 hp) traction motor, and the propulsion system control system. This paper presents and discusses the major attributes of the controlmore » system associated with the turbine alternator unit. Also discussed is the role and operational requirements of the turbine unit as part of the complete hybrid electric vehicle propulsion system.« less

Research on Control System of Three - phase Brushless DC Motor for Electric Vehicle

NASA Astrophysics Data System (ADS)

Wang, Zhiwei; Jin, Hai; Guo, Jie; Su, Jie; Wang, Miao

2017-12-01

In order to study the three-phase brushless motor control system of electric vehicle, Freescale9S12XS128 chip is used as the control core, and the power MOSFET is used as the inverter device. The software is compiled by Codewarrior software. The speed control link adopts open-loop control, and the control chip collects the external sensor signal voltage Change control PWM signal output control three-phase brushless DC motor speed. The whole system consists of Hall position detection module, current detection module, power drive module and voltage detection module. The basic functions of three-phase brushless DC motor drive control are realized.

SOLON: An autonomous vehicle mission planner

NASA Technical Reports Server (NTRS)

Dudziak, M. J.

1987-01-01

The State-Operator Logic Machine (SOLON) Planner provides an architecture for effective real-time planning and replanning for an autonomous vehicle. The highlights of the system, which distinguish it from other AI-based planners that have been designed previously, are its hybrid application of state-driven control architecture and the use of both schematic representations and logic programming for the management of its knowledge base. SOLON is designed to provide multiple levels of planning for a single autonomous vehicle which is supplied with a skeletal, partially-specified mission plan at the outset of the vehicle's operations. This mission plan consists of a set of objectives, each of which will be decomposable by the planner into tasks. These tasks are themselves comparatively complex sets of actions which are executable by a conventional real-time control system which does not perform planning but which is capable of making adjustments or modifications to the provided tasks according to constraints and tolerances provided by the Planner. The current implementation of the SOLON is in the form of a real-time simulation of the Planner module of an Intelligent Vehicle Controller (IVC) on-board an autonomous underwater vehicle (AUV). The simulation is embedded within a larger simulator environment known as ICDS (Intelligent Controller Development System) operating on a Symbolics 3645/75 computer.

A monitoring system based on electric vehicle three-stage wireless charging

NASA Astrophysics Data System (ADS)

Hei, T.; Liu, Z. Z.; Yang, Y.; Hongxing, CHEN; Zhou, B.; Zeng, H.

2016-08-01

An monitoring system for three-stage wireless charging was designed. The vehicle terminal contained the core board which was used for battery information collection and charging control and the power measurement and charging control core board was provided at the transmitting terminal which communicated with receiver by Bluetooth. A touch-screen display unit was designed based on MCGS (Monitor and Control Generated System) to simulate charging behavior and to debug the system conveniently. The practical application shown that the system could be stable and reliable, and had a favorable application foreground.

A high speed telemetry data link for an autonomous roving vehicle

NASA Technical Reports Server (NTRS)

Cipolle, D. J.

1980-01-01

A data link system used on a prototype autonomous roving vehicle is described. This system provides a means of acquiring, formatting, and transmitting information on board the vehicle to a controlling computer. Included is a statement of requirements and the design philosophy. Additionally, interfacing with the rover systems is discussed, along with the overall performance of the telemetry link.

Improved guidance hardware study for the scout launch vehicle

NASA Technical Reports Server (NTRS)

Schappell, R. T.; Salis, M. L.; Mueller, R.; Best, L. E.; Bradt, A. J.; Harrison, R.; Burrell, J. H.

1972-01-01

A market survey and evaluation of inertial guidance systems (inertial measurement units and digital computers) were made. Comparisons were made to determine the candidate systems for use in the Scout launch vehicle. Error analyses were made using typical Scout trajectories. A reaction control system was sized for the fourth stage. The guidance hardware to Scout vehicle interface was listed.

Office of Spaceflight Standard Spaceborne Global Positioning System (GPS) user equipment project

NASA Technical Reports Server (NTRS)

Saunders, Penny E.

1991-01-01

The Global Positioning System (GPS) provides the following: (1) position and velocity determination to support vehicle GN&C, precise orbit determination, and payload pointing; (2) time reference to support onboard timing systems and data time tagging; (3) relative position and velocity determination to support cooperative vehicle tracking; and (4) attitude determination to support vehicle attitude control and payload pointing.

Vented Launch Vehicle Adaptor for a Manned Spacecraft with "Pusher" Launch Abort System

NASA Technical Reports Server (NTRS)

Vandervort, Robert E. (Inventor)

2017-01-01

A system, method, and apparatus for a vented launch vehicle adaptor (LVA) for a manned spacecraft with a "pusher" launch abort system are disclosed. The disclosed LVA provides a structural interface between a commercial crew vehicle (CCV) crew module/service module (CM/SM) spacecraft and an expendable launch vehicle. The LVA provides structural attachment of the module to the launch vehicle. It also provides a means to control the exhaust plume from a pusher-type launch abort system that is integrated into the module. In case of an on-pad or ascent abort, which requires the module to jettison away from the launch vehicle, the launch abort system exhaust plume must be safely directed away from critical and dangerous portions of the launch vehicle in order to achieve a safe and successful jettison.

Practical Application of a Subscale Transport Aircraft for Flight Research in Control Upset and Failure Conditions

NASA Technical Reports Server (NTRS)

Cunningham, Kevin; Foster, John V.; Morelli, Eugene A.; Murch, Austin M.

2008-01-01

Over the past decade, the goal of reducing the fatal accident rate of large transport aircraft has resulted in research aimed at the problem of aircraft loss-of-control. Starting in 1999, the NASA Aviation Safety Program initiated research that included vehicle dynamics modeling, system health monitoring, and reconfigurable control systems focused on flight regimes beyond the normal flight envelope. In recent years, there has been an increased emphasis on adaptive control technologies for recovery from control upsets or failures including damage scenarios. As part of these efforts, NASA has developed the Airborne Subscale Transport Aircraft Research (AirSTAR) flight facility to allow flight research and validation, and system testing for flight regimes that are considered too risky for full-scale manned transport airplane testing. The AirSTAR facility utilizes dynamically-scaled vehicles that enable the application of subscale flight test results to full scale vehicles. This paper describes the modeling and simulation approach used for AirSTAR vehicles that supports the goals of efficient, low-cost and safe flight research in abnormal flight conditions. Modeling of aerodynamics, controls, and propulsion will be discussed as well as the application of simulation to flight control system development, test planning, risk mitigation, and flight research.

Optimal Path Determination for Flying Vehicle to Search an Object

NASA Astrophysics Data System (ADS)

Heru Tjahjana, R.; Heri Soelistyo U, R.; Ratnasari, L.; Irawanto, B.

2018-01-01

In this paper, a method to determine optimal path for flying vehicle to search an object is proposed. Background of the paper is controlling air vehicle to search an object. Optimal path determination is one of the most popular problem in optimization. This paper describe model of control design for a flying vehicle to search an object, and focus on the optimal path that used to search an object. In this paper, optimal control model is used to control flying vehicle to make the vehicle move in optimal path. If the vehicle move in optimal path, then the path to reach the searched object also optimal. The cost Functional is one of the most important things in optimal control design, in this paper the cost functional make the air vehicle can move as soon as possible to reach the object. The axis reference of flying vehicle uses N-E-D (North-East-Down) coordinate system. The result of this paper are the theorems which say that the cost functional make the control optimal and make the vehicle move in optimal path are proved analytically. The other result of this paper also shows the cost functional which used is convex. The convexity of the cost functional is use for guarantee the existence of optimal control. This paper also expose some simulations to show an optimal path for flying vehicle to search an object. The optimization method which used to find the optimal control and optimal path vehicle in this paper is Pontryagin Minimum Principle.

Intelligent autonomy for unmanned naval systems

NASA Astrophysics Data System (ADS)

Steinberg, Marc

2006-05-01

This paper provides an overview of the development and demonstration of intelligent autonomy technologies for control of heterogeneous unmanned naval air and sea vehicles and describes some of the current limitations of such technologies. The focus is on modular technologies that support highly automated retasking and fully autonomous dynamic replanning for up to ten heterogeneous unmanned systems based on high-level mission objectives, priorities, constraints, and Rules-of-Engagement. A key aspect of the demonstrations is incorporating frequent naval operator evaluations in order to gain better understanding of the integrated man/machine system and its tactical utility. These evaluations help ensure that the automation can provide information to the user in a meaningful way and that the user has a sufficient level of control and situation awareness to task the system as needed to complete complex mission tasks. Another important aspect of the program is examination of the interactions of higher-level autonomy algorithms with other relevant components that would be needed within the decision-making and control loops. Examples of these are vision and other sensor processing algorithms, sensor fusion, obstacle avoidance, and other lower level vehicle autonomous navigation, guidance, and control functions. Initial experiments have been completed using medium and high-fidelity vehicle simulations in a virtual warfare environment and inexpensive surrogate vehicles in flight and in-water demonstrations. Simulation experiments included integration of multi-vehicle task allocation, dynamic replanning under constraints, lower level autonomous vehicle control, automatic assessment of the impact of contingencies on plans, management of situation awareness data, operator alert management, and a mixed-initiative operator interface. In-water demonstrations of a maritime situation awareness capability were completed in both a river and a harbor environment using unmanned surface vehicles and a buoy as surrogate platforms. In addition, a multiple heterogeneous vehicle demonstration was performed using five different types of small unmanned air and ground vehicles. This provided some initial experimentation with specifying tasking for high-level mission objectives and then mapping those objectives onto heterogeneous unmanned vehicles that each have different lower-level autonomy software. Finally, this paper will discuss lessons learned.

Computer-Aided Remote Driving

NASA Technical Reports Server (NTRS)

Wilcox, Brian H.

1994-01-01

System for remote control of robotic land vehicle requires only small radio-communication bandwidth. Twin video cameras on vehicle create stereoscopic images. Operator views cross-polarized images on two cathode-ray tubes through correspondingly polarized spectacles. By use of cursor on frozen image, remote operator designates path. Vehicle proceeds to follow path, by use of limited degree of autonomous control to cope with unexpected conditions. System concept, called "computer-aided remote driving" (CARD), potentially useful in exploration of other planets, military surveillance, firefighting, and clean-up of hazardous materials.

Controlled Hydrogen Fleet and Infrastructure Demonstration and Validation Project

DOE Office of Scientific and Technical Information (OSTI.GOV)

Stottler, Gary

General Motors, LLC and energy partner Shell Hydrogen, LLC, deployed a system of hydrogen fuel cell electric vehicles integrated with a hydrogen fueling station infrastructure to operate under real world conditions as part of the U.S. Department of Energy's Controlled Hydrogen Fleet and Infrastructure Validation and Demonstration Project. This technical report documents the performance and describes the learnings from progressive generations of vehicle fuel cell system technology and multiple approaches to hydrogen generation and delivery for vehicle fueling.

Macroinformational analysis of conditions for controllability of space-vehicle orbit

NASA Astrophysics Data System (ADS)

Glazov, B. I.

2011-12-01

The general axiomatics of information measures for the macro analysis of relations of an information-cybernetic system in the control is introduced. The general structure of a semantically marked graph of open and closed relations of an information-cybernetic system between the participants in the environment, as well as thenecessary axiomatic and technological information-cybernetic system conditions of controllability and observability of objects, for the case of a space vehicle in orbit, are justified.

Autonomous Vehicle Systems Laboratory Research Capability Expansion Program

DTIC Science & Technology

2017-12-03

currently valid OMB control number. PLEASE DO NOT RETURN YOUR FORM TO THE ABOVE ADDRESS. University of the Incarnate Word 4301 Broadway, Box #T-2 San Antonio...autonomous control , collaboration, and decision-making in unstructured, dynamic, and uncertain nonlinear environments for autonomous ground and air...vehicle systems. To fulfill the research goal, the PI has initiated fundamental research in the areas of autonomous rotorcraft control and

Ultra-Compact Neuroprocessor for Automotive Diagnostic and Control

NASA Technical Reports Server (NTRS)

Tawel, R.; Aranki, N.; Feldkamp, L. A.; Marko, K. A.

1998-01-01

Demands on the performance of vehicle control and diagnostic systems are steadily increasing as a consequence of stiff global competition and government mandates. In the United States, light trucks and passenger cars are required both to meet strict emission standards and to perform continuous diagnostics of all emissions systems operating in the vehicle.

Corrosion Prevention for Wheeled Vehicle Systems

DTIC Science & Technology

1993-08-13

The audit objective was to evaluate the effectiveness and efficiency of the Army’s procedures for acquiring corrosion prevention and chemical agent...resistant coatings for wheeled vehicle systems. To accomplish this objective, we reviewed corrosion controls and painting processes. The audit also...included a review of the adequacy of internal controls related to the audit objective.

40 CFR 86.096-24 - Test vehicles and engines.

Code of Federal Regulations, 2010 CFR

2010-07-01

... certification must be grouped based upon similar engine design and emission control system characteristics. Each... family will be divided into groups based upon their exhaust emission control systems. One engine of each... vehicle designs of equal number to the number of engine families within the engine family group, up to a...

40 CFR 86.096-24 - Test vehicles and engines.

Code of Federal Regulations, 2013 CFR

2013-07-01

... certification must be grouped based upon similar engine design and emission control system characteristics. Each... family will be divided into groups based upon their exhaust emission control systems. One engine of each... vehicle designs of equal number to the number of engine families within the engine family group, up to a...

40 CFR 86.096-24 - Test vehicles and engines.

Code of Federal Regulations, 2011 CFR

2011-07-01

... certification must be grouped based upon similar engine design and emission control system characteristics. Each... family will be divided into groups based upon their exhaust emission control systems. One engine of each... vehicle designs of equal number to the number of engine families within the engine family group, up to a...

REVIEW ARTICLE: Sensors for automotive telematics

NASA Astrophysics Data System (ADS)

Turner, J. D.; Austin, L.

2000-02-01

This article reviews the current practice in sensors and sensor applications for automotive and traffic-control systems. Sensors to control engine fuelling, ignition and transmission (known as the powertrain) are reviewed and the likely course of future development is discussed in the light of regulatory and market requirements as well as trends in sensor design and manufacture. Sensor needs for suspension, braking and control of traction are also reviewed and the likely introduction of wheel and tyre sensors to enhance driving safety is discussed. The recent trend towards vehicle-mounted devices to sense the vehicle's environment (such as radar, optical, ultrasound, capacitive and image-based systems) and the implications of the introduction of safety-critical automotive systems such as adaptive cruise control are discussed. Sensors for initiating the deployment of safety systems such as airbags, together with transducers for disconnecting fuel pumps and vehicle batteries in the event of a crash, are reviewed. The paper includes a brief discussion of highway-based sensors for measuring vehicle speed and presence and concludes with a discussion of the likely future developments in the field.

Centralized versus distributed propulsion

NASA Technical Reports Server (NTRS)

Clark, J. P.

1982-01-01

The functions and requirements of auxiliary propulsion systems are reviewed. None of the three major tasks (attitude control, stationkeeping, and shape control) can be performed by a collection of thrusters at a single central location. If a centralized system is defined as a collection of separated clusters, made up of the minimum number of propulsion units, then such a system can provide attitude control and stationkeeping for most vehicles. A distributed propulsion system is characterized by more numerous propulsion units in a regularly distributed arrangement. Various proposed large space systems are reviewed and it is concluded that centralized auxiliary propulsion is best suited to vehicles with a relatively rigid core. These vehicles may carry a number of flexible or movable appendages. A second group, consisting of one or more large flexible flat plates, may need distributed propulsion for shape control. There is a third group, consisting of vehicles built up from multiple shuttle launches, which may be forced into a distributed system because of the need to add additional propulsion units as the vehicles grow. The effects of distributed propulsion on a beam-like structure were examined. The deflection of the structure under both translational and rotational thrusts is shown as a function of the number of equally spaced thrusters. When two thrusters only are used it is shown that location is an important parameter. The possibility of using distributed propulsion to achieve minimum overall system weight is also examined. Finally, an examination of the active damping by distributed propulsion is described.

The Total In-Flight Simulator (TIFS) aerodynamics and systems: Description and analysis. [maneuver control and gust alleviators

NASA Technical Reports Server (NTRS)

Andrisani, D., II; Daughaday, H.; Dittenhauser, J.; Rynaski, E.

1978-01-01

The aerodynamics, control system, instrumentation complement and recording system of the USAF Total In/Flight Simulator (TIFS) airplane are described. A control system that would allow the ailerons to be operated collectively, as well as, differentially to entrance the ability of the vehicle to perform the dual function of maneuver load control and gust alleviation is emphasized. Mathematical prediction of the rigid body and the flexible equations of longitudinal motion using the level 2.01 FLEXSTAB program are included along with a definition of the vehicle geometry, the mass and stiffness distribution, the calculated mode frequencies and mode shapes, and the resulting aerodynamic equations of motion of the flexible vehicle. A complete description of the control and instrumentation system of the aircraft is presented, including analysis, ground test and flight data comparisons of the performance and bandwidth of the aerodynamic surface servos. Proposed modification for improved performance of the servos are also presented.

Design and research on the two-joint mating system of underwater vehicle

NASA Astrophysics Data System (ADS)

Zhang, Zhong-lin; Wang, Li-quan

2013-03-01

In the 21st century, people have come to the era of ocean science and ocean economy. With the development of ocean science and technology and the thorough research on the ocean, underwater mating technique has been widely used in such fields as sunk ship salvage, deep ocean workstation, submarine lifesaving aid and military affairs. In this paper, researches are made home and abroad on mating technology. Two-joint mating system of underwater vehicle is designed including plane system, three-dimensional assembly system and control system in order to increase the capacity of adapting platform obliquity and adopting rotational skirt scheme. It is clear that the system fits the working space of underwater vehicle passageway and there is no interference phenomenon in assembly design. The finite element model of the system shell and the pressurization of the joint are established. The results of the finite element computing and the pressing test are accordant, and thus it can testify that the shell material meet the need of intension and joint pressurization is reliable. Modeling of the control system is accomplished, and simulation and analysis are made, which can provide directions for the controller design of mating system of underwater vehicles.

A teleoperated system for remote site characterization

NASA Technical Reports Server (NTRS)

Sandness, Gerald A.; Richardson, Bradley S.; Pence, Jon

1994-01-01

The detection and characterization of buried objects and materials is an important step in the restoration of burial sites containing chemical and radioactive waste materials at Department of Energy (DOE) and Department of Defense (DOD) facilities. By performing these tasks with remotely controlled sensors, it is possible to obtain improved data quality and consistency as well as enhanced safety for on-site workers. Therefore, the DOE Office of Technology Development and the US Army Environmental Center have jointly supported the development of the Remote Characterization System (RCS). One of the main components of the RCS is a small remotely driven survey vehicle that can transport various combinations of geophysical and radiological sensors. Currently implemented sensors include ground-penetrating radar, magnetometers, an electromagnetic induction sensor, and a sodium iodide radiation detector. The survey vehicle was constructed predominantly of non-metallic materials to minimize its effect on the operation of its geophysical sensors. The system operator controls the vehicle from a remote, truck-mounted, base station. Video images are transmitted to the base station by a radio link to give the operator necessary visual information. Vehicle control commands, tracking information, and sensor data are transmitted between the survey vehicle and the base station by means of a radio ethernet link. Precise vehicle tracking coordinates are provided by a differential Global Positioning System (GPS).

Hardware Implementation of COTS Avionics System on Unmanned Aerial Vehicle Platforms

NASA Technical Reports Server (NTRS)

Yeh, Yoo-Hsiu; Kumar, Parth; Ishihara, Abraham; Ippolito, Corey

2010-01-01

Unmanned Aerial Vehicles (UAVs) can serve as low cost and low risk platforms for flight testing in Aeronautics research. The NASA Exploration Aerial Vehicle (EAV) and Experimental Sensor-Controlled Aerial Vehicle (X-SCAV) UAVs were developed in support of control systems research at NASA Ames Research Center. The avionics hardware for both systems has been redesigned and updated, and the structure of the EAV has been further strengthened. Preliminary tests show the avionics operate properly in the new configuration. A linear model for the EAV also was estimated from flight data, and was verified in simulation. These modifications and results prepare the EAV and X-SCAV to be used in a wide variety of flight research projects.

A Novel Range-Extended Strategy for Fuel Cell/Battery Electric Vehicles.

PubMed

Hwang, Jenn-Jiang; Hu, Jia-Sheng; Lin, Chih-Hong

2015-01-01

The range-extended electric vehicle is proposed to improve the range anxiety drivers have of electric vehicles. Conventionally, a gasoline/diesel generator increases the range of an electric vehicle. Due to the zero-CO2 emission stipulations, utilizing fuel cells as generators raises concerns in society. This paper presents a novel charging strategy for fuel cell/battery electric vehicles. In comparison to the conventional switch control, a fuzzy control approach is employed to enhance the battery's state of charge (SOC). This approach improves the quick loss problem of the system's SOC and thus can achieve an extended driving range. Smooth steering experience and range extension are the main indexes for development of fuzzy rules, which are mainly based on the energy management in the urban driving model. Evaluation of the entire control system is performed by simulation, which demonstrates its effectiveness and feasibility.

A Novel Range-Extended Strategy for Fuel Cell/Battery Electric Vehicles

PubMed Central

Hwang, Jenn-Jiang; Lin, Chih-Hong

2015-01-01

The range-extended electric vehicle is proposed to improve the range anxiety drivers have of electric vehicles. Conventionally, a gasoline/diesel generator increases the range of an electric vehicle. Due to the zero-CO2 emission stipulations, utilizing fuel cells as generators raises concerns in society. This paper presents a novel charging strategy for fuel cell/battery electric vehicles. In comparison to the conventional switch control, a fuzzy control approach is employed to enhance the battery's state of charge (SOC). This approach improves the quick loss problem of the system's SOC and thus can achieve an extended driving range. Smooth steering experience and range extension are the main indexes for development of fuzzy rules, which are mainly based on the energy management in the urban driving model. Evaluation of the entire control system is performed by simulation, which demonstrates its effectiveness and feasibility. PMID:26236771

California motor vehicle pollution control: emission control system warranty regulations waiver of federal preemption

DOE Office of Scientific and Technical Information (OSTI.GOV)

Not Available

1979-10-23

The U.S. Environmental Protection Agency has decided that the California Air Resources Board's (CARB) regulations on emission control system warranties for motor vehicles and engines sold in the state fall within the scope of previous waivers of federal preemption under the Clean Air Act; that they are neither standards nor enforcement procedures; and that they need not receive a separate waiver of federal preemption for their enforcement. Adopted on 12/14/78, the CARB regulations apply to all California certified 1973 and subsequent model year motorcycles, light-, medium-, and heavy-duty motor vehicles and engines. The decision, which followed a 5/17/79 public hearingmore » in San Francisco, Calif., will affect not only California motor vehicle manufacturers and industries but also those outside the state which sell the subject vehicles in California, thus, making it one of nationwide scope and effect.« less

Takeover Time in Highly Automated Vehicles: Noncritical Transitions to and From Manual Control.

PubMed

Eriksson, Alexander; Stanton, Neville A

2017-06-01

The aim of this study was to review existing research into driver control transitions and to determine the time it takes drivers to resume control from a highly automated vehicle in noncritical scenarios. Contemporary research has moved from an inclusive design approach to adhering only to mean/median values when designing control transitions in automated driving. Research into control transitions in highly automated driving has focused on urgent scenarios where drivers are given a relatively short time span to respond to a request to resume manual control. We found a paucity in research into more frequent scenarios for control transitions, such as planned exits from highway systems. Twenty-six drivers drove two scenarios with an automated driving feature activated. Drivers were asked to read a newspaper, or to monitor the system, and to relinquish, or resume, control from the automation when prompted by vehicle systems. Significantly longer control transition times were found between driving with and without secondary tasks. Control transition times were substantially longer than those reported in the peer-reviewed literature. We found that drivers take longer to resume control when under no time pressure compared with that reported in the literature. Moreover, we found that drivers occupied by a secondary task exhibit larger variance and slower responses to requests to resume control. Workload scores implied optimal workload. Intra- and interindividual differences need to be accommodated by vehicle manufacturers and policy makers alike to ensure inclusive design of contemporary systems and safety during control transitions.

Designing neuro-fuzzy controller for electromagnetic anti-lock braking system (ABS) on electric vehicle

NASA Astrophysics Data System (ADS)

Pramudijanto, Josaphat; Ashfahani, Andri; Lukito, Rian

2018-03-01

Anti-lock braking system (ABS) is used on vehicles to keep the wheels unlocked in sudden break (inside braking) and minimalize the stop distance of the vehicle. The problem of it when sudden break is the wheels locked so the vehicle steering couldn’t be controlled. The designed ABS system will be applied on ABS simulator using the electromagnetic braking. In normal condition or in condition without braking, longitudinal velocity of the vehicle will be equal with the velocity of wheel rotation, so the slip ratio will be 0 (0%) and if the velocity of wheel rotation is 0 (in locked condition) then the wheels will be slip 1 (100%). ABS system will keep the value of slip ratio so it will be 0.2 (20%). In this final assignment, the method that is used is Neuro-Fuzzy method to control the slip value on the wheels. The input is the expectable slip and the output is slip from plant. The learning algorithm which is used is Backpropagation that will work by feedforward to get actual output and work by feedback to get error value with target output. The network that was made based on fuzzy mechanism which are fuzzification, inference and defuzzification, Neuro-fuzzy controller can reduce overshoot plant respond to 43.2% compared to plant respond without controller by open loop.

NASA Ares I Launch Vehicle Roll and Reaction Control Systems Lessons Learned

NASA Technical Reports Server (NTRS)

Butt, Adam; Popp, Chris G.; Jernigan, Frankie R.; Paseur, Lila F.; Pitts, Hank M.

2011-01-01

On April 15, 2010 President Barak Obama made the official announcement that the Constellation Program, which included the Ares I launch vehicle, would be canceled. NASA s Ares I launch vehicle was being designed to launch the Orion Crew Exploration Vehicle, returning humans to the moon, Mars, and beyond. It consisted of a First Stage (FS) five segment solid rocket booster and a liquid J-2X Upper Stage (US) engine. Roll control for the FS was planned to be handled by a dedicated Roll Control System (RoCS), located on the connecting interstage. Induced yaw or pitch moments experienced during FS ascent would have been handled by vectoring of the booster nozzle. After FS booster separation, the US Reaction Control System (ReCS) would have provided the US Element with three degrees of freedom control as needed. The lessons learned documented in this paper will be focused on the technical designs and producibility of both systems along with the partnership between NASA and Boeing, who was on contract to build the Ares I US Element, which included the FS RoCS and US ReCS. In regards to partnership, focus will be placed on integration along with technical work accomplished by Boeing with special emphasis on each task order. In summary, this paper attempts to capture key lessons learned that should be helpful in the development of future launch vehicle RCS designs.

Space Vehicle Valve System

NASA Technical Reports Server (NTRS)

Kelley, Anthony R. (Inventor); Lindner, Jeffrey L. (Inventor)

2014-01-01

The present invention is a space vehicle valve system which controls the internal pressure of a space vehicle and the flow rate of purged gases at a given internal pressure and aperture site. A plurality of quasi-unique variable dimension peaked valve structures cover the purge apertures on a space vehicle. Interchangeable sheet guards configured to cover valve apertures on the peaked valve structure contain a pressure-activated surface on the inner surface. Sheet guards move outwardly from the peaked valve structure when in structural contact with a purge gas stream flowing through the apertures on the space vehicle. Changing the properties of the sheet guards changes the response of the sheet guards at a given internal pressure, providing control of the flow rate at a given aperture site.

The ac propulsion system for an electric vehicle, phase 1

NASA Astrophysics Data System (ADS)

Geppert, S.

1981-08-01

A functional prototype of an electric vehicle ac propulsion system was built consisting of a 18.65 kW rated ac induction traction motor, pulse width modulated (PWM) transistorized inverter, two speed mechanically shifted automatic transmission, and an overall drive/vehicle controller. Design developmental steps, and test results of individual components and the complex system on an instrumented test frame are described. Computer models were developed for the inverter, motor and a representative vehicle. A preliminary reliability model and failure modes effects analysis are given.

The ac propulsion system for an electric vehicle, phase 1

NASA Technical Reports Server (NTRS)

Geppert, S.

1981-01-01

A functional prototype of an electric vehicle ac propulsion system was built consisting of a 18.65 kW rated ac induction traction motor, pulse width modulated (PWM) transistorized inverter, two speed mechanically shifted automatic transmission, and an overall drive/vehicle controller. Design developmental steps, and test results of individual components and the complex system on an instrumented test frame are described. Computer models were developed for the inverter, motor and a representative vehicle. A preliminary reliability model and failure modes effects analysis are given.

A driver-adaptive stability control strategy for sport utility vehicles

NASA Astrophysics Data System (ADS)

Zhu, Shenjin; He, Yuping

2017-08-01

Conventional vehicle stability control (VSC) systems are designed for average drivers. For a driver with a good driving skill, the VSC systems may be redundant; for a driver with a poor driving skill, the VSC intervention may be inadequate. To increase safety of sport utility vehicles (SUVs), this paper proposes a novel driver-adaptive VSC (DAVSC) strategy based on scaling the target yaw rate commanded by the driver. The DAVSC system is adaptive to drivers' driving skills. More control effort would be exerted for drivers with poor driving skills, and vice versa. A sliding mode control (SMC)-based differential braking (DB) controller is designed using a three degrees of freedom (DOF) yaw-plane model. An eight DOF nonlinear yaw-roll model is used to simulate the SUV dynamics. Two driver models, namely longitudinal and lateral, are used to 'drive' the virtual SUV. By integrating the virtual SUV, the DB controller, and the driver models, the performance of the DAVSC system is investigated. The simulations demonstrate the effectiveness of the DAVSC strategy.

Orion Multi-Purpose Crew Vehicle Active Thermal Control and Environmental Control and Life Support Development Status

NASA Technical Reports Server (NTRS)

Lewis, John F.; Barido, Richard A.; Boehm, Paul; Cross, Cynthia D.; Rains, George Edward

2014-01-01

The Orion Multi Purpose Crew Vehicle (MPCV) is the first crew transport vehicle to be developed by the National Aeronautics and Space Administration (NASA) in the last thirty years. Orion is currently being developed to transport the crew safely beyond Earth orbit. This year, the vehicle focused on building the Exploration Flight Test 1 (EFT1) vehicle to be launched in September of 2014. The development of the Orion Active Thermal Control (ATCS) and Environmental Control and Life Support (ECLS) System, focused on the integrating the components into the EFT1 vehicle and preparing them for launch. Work also has started on preliminary design reviews for the manned vehicle. Additional development work is underway to keep the remaining component progressing towards implementation on the flight tests of EM1 in 2017 and of EM2 in 2020. This paper covers the Orion ECLS development from April 2013 to April 2014.

Multi Purpose Crew Vehicle Active Thermal Control and Environmental Control and Life Support Development Status

NASA Technical Reports Server (NTRS)

Lewis, John F.; Barido, Richard A.; Boehm, Paul; Cross, Cynthia D.; Rains, George Edward

2014-01-01

The Orion Multi Purpose Crew Vehicle (MPCV) is the first crew transport vehicle to be developed by the National Aeronautics and Space Administration (NASA) in the last thirty years. Orion is currently being developed to transport the crew safely beyond Earth orbit. This year, the vehicle focused on building the Exploration Flight Test 1 (EFT1) vehicle to be launched in September of 2014. The development of the Orion Active Thermal Control (ATCS) and Environmental Control and Life Support (ECLS) System, focused on the integrating the components into the EFT1 vehicle and preparing them for launch. Work also has started on preliminary design reviews for the manned vehicle. Additional development work is underway to keep the remaining component progressing towards implementation on the flight tests of EM1 in 2017 and of EM2 in 2020. This paper covers the Orion ECLS development from April 2013 to April 2014

Adaptive controller for regenerative and friction braking system

DOEpatents

Davis, R.I.

1990-10-16

A regenerative and friction braking system for a vehicle having one or more road wheels driven by an electric traction motor includes a driver responsive device for producing a brake demand signal having a magnitude corresponding to the level of braking force selected by the driver and friction and regenerative brakes operatively connected with the road wheels of the vehicle. A system according to this invention further includes control means for operating the friction and regenerative braking subsystems so that maximum brake torques sustainable by the road wheels of the vehicle without skidding or slipping will not be exceeded. 8 figs.

Adaptive controller for regenerative and friction braking system

DOEpatents

Davis, Roy I.

1990-01-01

A regenerative and friction braking system for a vehicle having one or more roadwheels driven by an electric traction motor includes a driver responsive device for producing a brake demand signal having a magnitude corresponding to the level of braking force selected by the driver and friction and regenerative brakes operatively connected with the roadwheels of the vehicle. A system according to this invention further includes control means for operating the friction and regenerative braking subsystems so that maximum brake torques sustainable by the roadwheels of the vehicle without skidding or slipping will not be exceeded.

New Vectorial Propulsion System and Trajectory Control Designs for Improved AUV Mission Autonomy

PubMed Central

Gonzalez, Julian; Galarza, Cesar; Aguzzi, Jacopo; del Rio, Joaquin

2018-01-01

Autonomous Underwater Vehicles (AUV) are proving to be a promising platform design for multidisciplinary autonomous operability with a wide range of applications in marine ecology and geoscience. Here, two novel contributions towards increasing the autonomous navigation capability of a new AUV prototype (the Guanay II) as a mix between a propelled vehicle and a glider are presented. Firstly, a vectorial propulsion system has been designed to provide full vehicle maneuverability in both horizontal and vertical planes. Furthermore, two controllers have been designed, based on fuzzy controls, to provide the vehicle with autonomous navigation capabilities. Due to the decoupled system propriety, the controllers in the horizontal plane have been designed separately from the vertical plane. This class of non-linear controllers has been used to interpret linguistic laws into different zones of functionality. This method provided good performance, used as interpolation between different rules or linear controls. Both improvements have been validated through simulations and field tests, displaying good performance results. Finally, the conclusion of this work is that the Guanay II AUV has a solid controller to perform autonomous navigation and carry out vertical immersions. PMID:29673224

Fault tolerant computer control for a Maglev transportation system

NASA Technical Reports Server (NTRS)

Lala, Jaynarayan H.; Nagle, Gail A.; Anagnostopoulos, George

1994-01-01

Magnetically levitated (Maglev) vehicles operating on dedicated guideways at speeds of 500 km/hr are an emerging transportation alternative to short-haul air and high-speed rail. They have the potential to offer a service significantly more dependable than air and with less operating cost than both air and high-speed rail. Maglev transportation derives these benefits by using magnetic forces to suspend a vehicle 8 to 200 mm above the guideway. Magnetic forces are also used for propulsion and guidance. The combination of high speed, short headways, stringent ride quality requirements, and a distributed offboard propulsion system necessitates high levels of automation for the Maglev control and operation. Very high levels of safety and availability will be required for the Maglev control system. This paper describes the mission scenario, functional requirements, and dependability and performance requirements of the Maglev command, control, and communications system. A distributed hierarchical architecture consisting of vehicle on-board computers, wayside zone computers, a central computer facility, and communication links between these entities was synthesized to meet the functional and dependability requirements on the maglev. Two variations of the basic architecture are described: the Smart Vehicle Architecture (SVA) and the Zone Control Architecture (ZCA). Preliminary dependability modeling results are also presented.

System and method for correcting attitude estimation

NASA Technical Reports Server (NTRS)

Josselson, Robert H. (Inventor)

2010-01-01

A system includes an angular rate sensor disposed in a vehicle for providing angular rates of the vehicle, and an instrument disposed in the vehicle for providing line-of-sight control with respect to a line-of-sight reference. The instrument includes an integrator which is configured to integrate the angular rates of the vehicle to form non-compensated attitudes. Also included is a compensator coupled across the integrator, in a feed-forward loop, for receiving the angular rates of the vehicle and outputting compensated angular rates of the vehicle. A summer combines the non-compensated attitudes and the compensated angular rates of the to vehicle to form estimated vehicle attitudes for controlling the instrument with respect to the line-of-sight reference. The compensator is configured to provide error compensation to the instrument free-of any feedback loop that uses an error signal. The compensator may include a transfer function providing a fixed gain to the received angular rates of the vehicle. The compensator may, alternatively, include a is transfer function providing a variable gain as a function of frequency to operate on the received angular rates of the vehicle.

Defining a region of optimization based on engine usage data

DOEpatents

Jiang, Li; Lee, Donghoon; Yilmaz, Hakan; Stefanopoulou, Anna

2015-08-04

Methods and systems for engine control optimization are provided. One or more operating conditions of a vehicle engine are detected. A value for each of a plurality of engine control parameters is determined based on the detected one or more operating conditions of the vehicle engine. A range of the most commonly detected operating conditions of the vehicle engine is identified and a region of optimization is defined based on the range of the most commonly detected operating conditions of the vehicle engine. The engine control optimization routine is initiated when the one or more operating conditions of the vehicle engine are within the defined region of optimization.

40 CFR 600.005-81 - Maintenance of records and rights of entry.

Code of Federal Regulations, 2010 CFR

2010-07-01

... (CONTINUED) ENERGY POLICY FUEL ECONOMY AND CARBON-RELATED EXHAUST EMISSIONS OF MOTOR VEHICLES Fuel Economy... applicable: (a) The manufacturer of any new motor vehicle subject to any of the standards or procedures... ensure that the vehicle with respect to its engine, drive train, fuel system, emission control system...

Dynamics of multirate sampled data control systems. [for space shuttle boost vehicle

NASA Technical Reports Server (NTRS)

Naylor, J. R.; Hynes, R. J.; Molnar, D. O.

1974-01-01

The effect was investigated of the synthesis approach (single or multirate) on the machine requirements for a digital control system for the space shuttle boost vehicle. The study encompassed four major work areas: synthesis approach trades, machine requirements trades, design analysis requirements and multirate adaptive control techniques. The primary results are two multirate autopilot designs for the low Q and maximum Q flight conditions that exhibits equal or better performance than the analog and single rate system designs. Also, a preferred technique for analyzing and synthesizing multirate digital control systems is included.

An intelligent IoT emergency vehicle warning system using RFID and Wi-Fi technologies for emergency medical services.

PubMed

Lai, Yeong-Lin; Chou, Yung-Hua; Chang, Li-Chih

2018-01-01

Collisions between emergency vehicles for emergency medical services (EMS) and public road users have been a serious problem, impacting on the safety of road users, emergency medical technicians (EMTs), and the patients on board. The aim of this study is to develop a novel intelligent emergency vehicle warning system for EMS applications. The intelligent emergency vehicle warning system is developed by Internet of Things (IoT), radio-frequency identification (RFID), and Wi-Fi technologies. The system consists of three major parts: a system trigger tag, an RFID system in an emergency vehicle, and an RFID system at an intersection. The RFID system either in an emergency vehicle or at an intersection contains a controller, an ultrahigh-frequency (UHF) RFID reader module, a Wi-Fi module, and a 2.4-GHz antenna. In addition, a UHF ID antenna is especially designed for the RFID system in an emergency vehicle. The IoT system provides real-time visual warning at an intersection and siren warning from an emergency vehicle in order to effectively inform road users about an emergency vehicle approaching. The developed intelligent IoT emergency vehicle warning system demonstrates the capabilities of real-time visual and siren warnings for EMS safety.

Visualization Component of Vehicle Health Decision Support System

NASA Technical Reports Server (NTRS)

Jacob, Joseph; Turmon, Michael; Stough, Timothy; Siegel, Herbert; Walter, patrick; Kurt, Cindy

2008-01-01

The visualization front-end of a Decision Support System (DSS) also includes an analysis engine linked to vehicle telemetry, and a database of learned models for known behaviors. Because the display is graphical rather than text-based, the summarization it provides has a greater information density on one screen for evaluation by a flight controller.This tool provides a system-level visualization of the state of a vehicle, and drill-down capability for more details and interfaces to separate analysis algorithms and sensor data streams. The system-level view is a 3D rendering of the vehicle, with sensors represented as icons, tied to appropriate positions within the vehicle body and colored to indicate sensor state (e.g., normal, warning, anomalous state, etc.). The sensor data is received via an Information Sharing Protocol (ISP) client that connects to an external server for real-time telemetry. Users can interactively pan, zoom, and rotate this 3D view, as well as select sensors for a detail plot of the associated time series data. Subsets of the plotted data can be selected and sent to an external analysis engine to either search for a similar time series in an historical database, or to detect anomalous events. The system overview and plotting capabilities are completely general in that they can be applied to any vehicle instrumented with a collection of sensors. This visualization component can interface with the ISP for data streams used by NASA s Mission Control Center at Johnson Space Center. In addition, it can connect to, and display results from, separate analysis engine components that identify anomalies or that search for past instances of similar behavior. This software supports NASA's Software, Intelligent Systems, and Modeling element in the Exploration Systems Research and Technology Program by augmenting the capability of human flight controllers to make correct decisions, thus increasing safety and reliability. It was designed specifically as a tool for NASA's flight controllers to monitor the International Space Station and a future Crew Exploration Vehicle.

The integrated manual and automatic control of complex flight systems

NASA Technical Reports Server (NTRS)

Schmidt, D. K.

1984-01-01

A unified control synthesis methodology for complex and/or non-conventional flight vehicles are developed. Prediction techniques for the handling characteristics of such vehicles and pilot parameter identification from experimental data are addressed.

Hybrid Power Management-Based Vehicle Architecture

NASA Technical Reports Server (NTRS)

Eichenberg, Dennis J.

2011-01-01

Hybrid Power Management (HPM) is the integration of diverse, state-of-the-art power devices in an optimal configuration for space and terrestrial applications (s ee figure). The appropriate application and control of the various power devices significantly improves overall system performance and efficiency. The basic vehicle architecture consists of a primary power source, and possibly other power sources, that provides all power to a common energy storage system that is used to power the drive motors and vehicle accessory systems. This architecture also provides power as an emergency power system. Each component is independent, permitting it to be optimized for its intended purpose. The key element of HPM is the energy storage system. All generated power is sent to the energy storage system, and all loads derive their power from that system. This can significantly reduce the power requirement of the primary power source, while increasing the vehicle reliability. Ultracapacitors are ideal for an HPM-based energy storage system due to their exceptionally long cycle life, high reliability, high efficiency, high power density, and excellent low-temperature performance. Multiple power sources and multiple loads are easily incorporated into an HPM-based vehicle. A gas turbine is a good primary power source because of its high efficiency, high power density, long life, high reliability, and ability to operate on a wide range of fuels. An HPM controller maintains optimal control over each vehicle component. This flexible operating system can be applied to all vehicles to considerably improve vehicle efficiency, reliability, safety, security, and performance. The HPM-based vehicle architecture has many advantages over conventional vehicle architectures. Ultracapacitors have a much longer cycle life than batteries, which greatly improves system reliability, reduces life-of-system costs, and reduces environmental impact as ultracapacitors will probably never need to be replaced and disposed of. The environmentally safe ultracapacitor components reduce disposal concerns, and their recyclable nature reduces the environmental impact. High ultracapacitor power density provides high power during surges, and the ability to absorb high power during recharging. Ultracapacitors are extremely efficient in capturing recharging energy, are rugged, reliable, maintenance-free, have excellent lowtemperature characteristic, provide consistent performance over time, and promote safety as they can be left indefinitely in a safe, discharged state whereas batteries cannot.

Vehicle-based vision sensors for intelligent highway systems

NASA Astrophysics Data System (ADS)

Masaki, Ichiro

1989-09-01

This paper describes a vision system, based on ASIC (Application Specific Integrated Circuit) approach, for vehicle guidance on highways. After reviewing related work in the fields of intelligent vehicles, stereo vision, and ASIC-based approaches, the paper focuses on a stereo vision system for intelligent cruise control. The system measures the distance to the vehicle in front using trinocular triangulation. An application specific processor architecture was developed to offer low mass-production cost, real-time operation, low power consumption, and small physical size. The system was installed in the trunk of a car and evaluated successfully on highways.

Driving Performance After Self-Regulated Control Transitions in Highly Automated Vehicles.

PubMed

Eriksson, Alexander; Stanton, Neville A

2017-12-01

This study aims to explore whether driver-paced, noncritical transitions of control may counteract some of the aftereffects observed in the contemporary literature, resulting in higher levels of vehicle control. Research into control transitions in highly automated driving has focused on urgent scenarios where drivers are given a relatively short time span to respond to a request to resume manual control, resulting in seemingly scrambled control when manual control is resumed. Twenty-six drivers drove two scenarios with an automated driving feature activated. Drivers were asked to read a newspaper or monitor the system and relinquish or resume control from the automation when prompted by vehicle systems. Driving performance in terms of lane positioning and steering behavior was assessed for 20 seconds post resuming control to capture the resulting level of control. It was found that lane positioning was virtually unaffected for the duration of the 20-second time span in both automated conditions compared to the manual baseline when drivers resumed manual control; however, significant increases in the standard deviation of steering input were found for both automated conditions compared to baseline. No significant differences were found between the two automated conditions. The results indicate that when drivers self-paced the transfer back to manual control they exhibit less of the detrimental effects observed in system-paced conditions. It was shown that self-paced transitions could reduce the risk of accidents near the edge of the operational design domain. Vehicle manufacturers must consider these benefits when designing contemporary systems.

Essential Kinematics for Autonomous Vehicles

DTIC Science & Technology

1994-05-02

AD-.A282 456 Essential Kinematics for Autonomous Vehicles Alonzo Kelly DTICCMU-RI-TR-94- 14 AU 031994 F The Robotics Institute Carnegie Mellon...kit of concepts and techniques that will equip the reader to master a large class of kinematic modelling problems. Control of autonomous vehicles in 3D...transformation from system ’a’ to system b’. Essential Kinematics for Autonomous Vehicles page 1. The specification of derivatives will be necessarily

An Evaluation of Potential Operating Systems for Autonomous Underwater Vehicles

DTIC Science & Technology

2013-02-01

Remotely Operated Vehicle RTOS Real-Time Operating System SAUC -E Student Autonomous Underwater Vehicle Challenge - Europe TCP Transmission Control Protocol...popularity, with examples including the Student Autonomous Underwater Vehicle Challenge - Europe ( SAUC -E) [7] and the AUVSI robosub competition [8]. For...28] for entry into AUV competitions such as SAUC -E [7], and AUVSI [8]. 8 UNCLASSIFIED UNCLASSIFIED DSTO–TN–1194 3.4 Windows CE Windows CE

Near hybrid passenger vehicle development program, phase 1. Appendices C and D, Volume 2

NASA Technical Reports Server (NTRS)

1979-01-01

Results of tradeoff studies are presented in summary form. Various aspects of the overall vehicle design discussed include selection of the base vehicle, the battery pack configuration, structural modifications, occupant protection, vehicle dynamics, and aerodynamics. The drivetrain design and integration, power conditioning unit, battery subsystem, control system, environmental system are described. Specifications, weight breakdown, and energy consumption measures, and advanced technology components are included.

Aerospace Vehicle Design, Spacecraft Section. Volume 1: Project Groups 3-5

NASA Technical Reports Server (NTRS)

1989-01-01

Three groups of student engineers in an aerospace vehicle design course present their designs for a vehicle that can be used to resupply the Space Station Freedom and provide an emergency crew return to earth capability. The vehicle's requirements include a lifetime that exceeds six years, low cost, the capability for withstanding pressurization, launch, orbit, and reentry hazards, and reliability. The vehicle's subsystems are analyzed. These subsystems are structures, communication and command data systems, attitude and articulation control, life support and crew systems, power and propulsion, reentry and recovery systems, and mission management, planning, and costing.

Passive roadside reflectors and communications systems for improvement of radar reliability

DOT National Transportation Integrated Search

2006-06-01

The use of radar in automotive applications such as adaptive cruise control is limited to detecting : target vehicles directly in front of the host vehicle. Vehicles around a curve on a highway and : cross traffic vehicles at an intersection cannot b...

Effectiveness of basic display augmentation in vehicular control by visual field cues

NASA Technical Reports Server (NTRS)

Grunwald, A. J.; Merhav, S. J.

1978-01-01

The paper investigates the effectiveness of different basic display augmentation concepts - fixed reticle, velocity vector, and predicted future vehicle path - for RPVs controlled by a vehicle-mounted TV camera. The task is lateral manual control of a low flying RPV along a straight reference line in the presence of random side gusts. The man-machine system and the visual interface are modeled as a linear time-invariant system. Minimization of a quadratic performance criterion is assumed to underlie the control strategy of a well-trained human operator. The solution for the optimal feedback matrix enables the explicit computation of the variances of lateral deviation and directional error of the vehicle and of the control force that are used as performance measures.

Holarchical Systems and Emotional Holons : Biologically-Inspired System Designs for Control of Autonomous Aerial Vehicles

NASA Technical Reports Server (NTRS)

Ippolito, Corey; Plice, Laura; Pisanich, Greg

2003-01-01

The BEES (Bio-inspired Engineering for Exploration Systems) for Mars project at NASA Ames Research Center has the goal of developing bio-inspired flight control strategies to enable aerial explorers for Mars scientific investigations. This paper presents a summary of our ongoing research into biologically inspired system designs for control of unmanned autonomous aerial vehicle communities for Mars exploration. First, we present cooperative design considerations for robotic explorers based on the holarchical nature of biological systems and communities. Second, an outline of an architecture for cognitive decision making and control of individual robotic explorers is presented, modeled after the emotional nervous system of cognitive biological systems. Keywords: Holarchy, Biologically Inspired, Emotional UAV Flight Control

Lunar rover vehicle - an implication for rehabilitation

NASA Technical Reports Server (NTRS)

Mcfarland, S. R.; Primeauk, G. R.

1975-01-01

The feasibility of adapting the lunar roving vehicle control concept to automobiles and vans for quadriplegics was investigated. Topics discussed include the current state of automobile handicapped controls, a description of the affected population, and a design for interfacing the control system into a passenger vehice.

Advanced Launch System (ALS) actuation and power systems impact operability and cost

NASA Technical Reports Server (NTRS)

Sundberg, Gale R.

1990-01-01

To obtain the Advanced Launch System (ALS) primary goals of reduced costs and improved operability, there must be significant reductions in the launch operations and servicing requirements relative to current vehicle designs and practices. One of the primary methods for achieving these goals is by using vehicle electrical power system and controls for all actuation and avionics requirements. A brief status review of the ALS and its associated Advanced Development Program is presented to demonstrate maturation of those technologies that will help meet the overall operability and cost goals. The electric power and actuation systems are highlighted as a specific technology ready not only to meet the stringent ALS goals (cryogenic field valves and thrust vector controls with peak power demands to 75 hp), but also those of other launch vehicles, military and civilian aircraft, lunar/Martian vehicles, and a multitude of commercial applications.

Advanced Launch System (ALS): Electrical actuation and power systems improve operability and cost picture

NASA Technical Reports Server (NTRS)

Sundberg, Gale R.

1990-01-01

To obtain the Advanced Launch System (ALS) primary goals of reduced costs and improved operability, there must be significant reductions in the launch operations and servicing requirements relative to current vehicle designs and practices. One of the primary methods for achieving these goals is by using vehicle electrical power system and controls for all actuation and avionics requirements. A brief status review of the ALS and its associated Advanced Development Program is presented to demonstrate maturation of those technologies that will help meet the overall operability and cost goals. The electric power and actuation systems are highlighted as a specific technology ready not only to meet the stringent ALS goals (cryogenic field valves and thrust vector controls with peak power demands to 75 hp), but also those of other launch vehicles, military and civilian aircraft, lunar/Martian vehicles, and a multitude of commercial applications.

Advanced launch system (ALS) - Electrical actuation and power systems improve operability and cost picture

NASA Technical Reports Server (NTRS)

Sundberg, Gale R.

1990-01-01

To obtain the Advanced Launch System (ALS) primary goals of reduced costs and improved operability, there must be significant reductions in the launch operations and servicing requirements relative to current vehicle designs and practices. One of the primary methods for achieving these goals is by using vehicle electrrical power system and controls for all aviation and avionics requirements. A brief status review of the ALS and its associated Advanced Development Program is presented to demonstrate maturation of those technologies that will help meet the overall operability and cost goals. The electric power and actuation systems are highlighted as a sdpecific technology ready not only to meet the stringent ALS goals (cryogenic field valves and thrust vector controls with peak power demands to 75 hp), but also those of other launch vehicles, military ans civilian aircraft, lunar/Martian vehicles, and a multitude of comercial applications.

Development of a mobile robot for the 1995 AUVS competition

NASA Astrophysics Data System (ADS)

Matthews, Bradley O.; Ruthemeyer, Michael A.; Perdue, David; Hall, Ernest L.

1995-12-01

Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research on the design of a modular autonomous mobile robot controller. The advantages of a modular system are related to portability and the fact that any vehicle can become autonomous with minimal modifications. A mobile robot test-bed has been constructed using a golf cart base. This cart has full speed control with guidance provided by a vision system and obstacle avoidance using ultrasonic sensors systems. The speed and steering control are supervised by a 486 computer through a 3-axis motion controller. The obstacle avoidance system is based on a micro-controller interfaced with six ultrasonic transducers. The is micro-controller independently handles all timing and distance calculations and sends a steering angle correction back to the computer via the serial line. This design yields a portable independent system, where even computer communication is not necessary. Vision guidance is accomplished with a CCD camera with a zoom lens. The data is collected through a commercial tracking device, communicating with the computer the X,Y coordinates of the lane marker. Testing of these systems yielded positive results by showing that at five mph the vehicle can follow a line and at the same time avoid obstacles. This design, in its modularity, creates a portable autonomous controller applicable for any mobile vehicle with only minor adaptations.

Semi-active control of tracked vehicle suspension incorporating magnetorheological dampers

NASA Astrophysics Data System (ADS)

Ata, W. G.; Salem, A. M.

2017-05-01

In past years, the application of magnetorheological (MR) and electrorheological dampers in vehicle suspension has been widely studied, mainly for the purpose of vibration control. This paper presents theoretical study to identify an appropriate semi-active control method for MR-tracked vehicle suspension. Three representative control algorithms are simulated including the skyhook, hybrid and fuzzy-hybrid controllers. A seven degrees-of-freedom tracked vehicle suspension model incorporating MR dampers has been adopted for comparison between the performance of the three controllers. The model differential equations are derived based on Newton's second law of motion and the proposed control methods are developed. The performance of each control method under bump and sinusoidal road profiles for different vehicle speeds is simulated and compared with the performance of the conventional suspension system in time and frequency domains. The results show that the performance of tracked vehicle suspension with MR dampers is substantially improved. Moreover, the fuzzy-hybrid controller offers an excellent integrated performance in reducing the body accelerations as well as wheel bounce responses compared with the classical skyhook and hybrid controllers.

Flight control systems development and flight test experience with the HiMAT research vehicles

NASA Technical Reports Server (NTRS)

Kempel, Robert W.; Earls, Michael R.

1988-01-01

Two highly maneuverable aircraft technology (HiMAT) remotely piloted vehicles were flown a total of 26 flights. These subscale vehicles were of advanced aerodynamic configuration with advanced technology concepts such as composite and metallic structures, digital integrated propulsion control, and ground (primary) and airborne (backup) relaxed static stability, digital fly-by-wire control systems. Extensive systems development, checkout, and flight qualification were required to conduct the flight test program. The design maneuver goal was to achieve a sustained 8-g turn at Mach 0.9 at an altitude of 25,000 feet. This goal was achieved, along with the acquisition of high-quality flight data at subsonic and supersonic Mach numbers. Control systems were modified in a variety of ways using the flight-determined aerodynamic characteristics. The HiMAT program was successfully completed with approximately 11 hours of total flight time.

Preliminary design data package, appendix C. [hybrid electric vehicles

NASA Technical Reports Server (NTRS)

1979-01-01

The data and documentation required to define the preliminary design of a near term hybrid vehicle and to quantify its operational characteristics are presented together with the assumptions and rationale behind the design decisions. Aspects discussed include development requirements for the propulsion system, the chassis system, the body, and the vehicle systems. Particular emphasis is given to the controls, the heat engine, and the batteries.

Modeling and Simulation of an Unmanned Ground Vehicle Power System

DTIC Science & Technology

2014-03-28

Wilhelm, A. N., Surgenor, B. W., and Pharoah, J. G., “Design and evaluation of a micro-fuel-cell-based power system for a mobile robot,” Mechatronics ... Embedded Control Systems ], Control Engineering, 91–116, Birkhuser Boston (2005). [12] Alur, R., Courcoubetis, C., Halbwachs, N., Henzinger, T., Ho, P.-H...Modeling and Simulation of an Unmanned Ground Vehicle Power System John Brodericka∗, Jack Hartnerb, Dawn Tilburya, and Ella Atkinsa aThe University

Automated Cooperative Trajectories for a More Efficient and Responsive Air Transportation System

NASA Technical Reports Server (NTRS)

Hanson, Curt

2015-01-01

The NASA Automated Cooperative Trajectories project is developing a prototype avionics system that enables multi-vehicle cooperative control by integrating 1090 MHz ES ADS-B digital communications with onboard autopilot systems. This cooperative control capability will enable meta-aircraft operations for enhanced airspace utilization, as well as improved vehicle efficiency through wake surfing. This briefing describes the objectives and approach to a flight evaluation of this system planned for 2016.

Long life reaction control system design

NASA Astrophysics Data System (ADS)

Fanciullo, Thomas J.; Judd, Craig

1993-02-01

Future single stage to orbit systems will utilize oxygen/hydrogen propellants in their main propulsion means due to the propellant's high energy content and environmental acceptability. Operational effectiveness studies and life cycle cost studies have indicated that minimizing the number of different commodities on a given vehicle not only reduces cost, but reduces the ground span times in both the pre- and postflight operations. Therefore, oxygen and hydrogen should be used for the reaction controls systems, eliminating the need to deal with toxic or corrosive fluids. When the hydrogen scramjet powered NASP design development began in 1985, new system design studies considered overall integration of subsystems; in the context of that approach, O2/H2 reaction controls system were more than competitive with storable propellant systems and had the additional benefits of lower life cycle cost, rapid turnaround times, and O2 and H2 commodities for use throughout the vehicle. Similar benefits were derived in rocket-powered SSTO vehicles.

Sensor Systems for Vehicle Environment Perception in a Highway Intelligent Space System

PubMed Central

Tang, Xiaofeng; Gao, Feng; Xu, Guoyan; Ding, Nenggen; Cai, Yao; Ma, Mingming; Liu, Jianxing

2014-01-01

A Highway Intelligent Space System (HISS) is proposed to study vehicle environment perception in this paper. The nature of HISS is that a space sensors system using laser, ultrasonic or radar sensors are installed in a highway environment and communication technology is used to realize the information exchange between the HISS server and vehicles, which provides vehicles with the surrounding road information. Considering the high-speed feature of vehicles on highways, when vehicles will be passing a road ahead that is prone to accidents, the vehicle driving state should be predicted to ensure drivers have road environment perception information in advance, thereby ensuring vehicle driving safety and stability. In order to verify the accuracy and feasibility of the HISS, a traditional vehicle-mounted sensor system for environment perception is used to obtain the relative driving state. Furthermore, an inter-vehicle dynamics model is built and model predictive control approach is used to predict the driving state in the following period. Finally, the simulation results shows that using the HISS for environment perception can arrive at the same results detected by a traditional vehicle-mounted sensors system. Meanwhile, we can further draw the conclusion that using HISS to realize vehicle environment perception can ensure system stability, thereby demonstrating the method's feasibility. PMID:24834907

Fuzzy chaos control for vehicle lateral dynamics based on active suspension system

NASA Astrophysics Data System (ADS)

Huang, Chen; Chen, Long; Jiang, Haobin; Yuan, Chaochun; Xia, Tian

2014-07-01

The existing research of the active suspension system (ASS) mainly focuses on the different evaluation indexes and control strategies. Among the different components, the nonlinear characteristics of practical systems and control are usually not considered for vehicle lateral dynamics. But the vehicle model has some shortages on tyre model with side-slip angle, road adhesion coefficient, vertical load and velocity. In this paper, the nonlinear dynamic model of lateral system is considered and also the adaptive neural network of tire is introduced. By nonlinear analysis methods, such as the bifurcation diagram and Lyapunov exponent, it has shown that the lateral dynamics exhibits complicated motions with the forward speed. Then, a fuzzy control method is applied to the lateral system aiming to convert chaos into periodic motion using the linear-state feedback of an available lateral force with changing tire load. Finally, the rapid control prototyping is built to conduct the real vehicle test. By comparison of time response diagram, phase portraits and Lyapunov exponents at different work conditions, the results on step input and S-shaped road indicate that the slip angle and yaw velocity of lateral dynamics enter into stable domain and the results of test are consistent to the simulation and verified the correctness of simulation. And the Lyapunov exponents of the closed-loop system are becoming from positive to negative. This research proposes a fuzzy control method which has sufficient suppress chaotic motions as an effective active suspension system.

Image acquisition system for traffic monitoring applications

NASA Astrophysics Data System (ADS)

Auty, Glen; Corke, Peter I.; Dunn, Paul; Jensen, Murray; Macintyre, Ian B.; Mills, Dennis C.; Nguyen, Hao; Simons, Ben

1995-03-01

An imaging system for monitoring traffic on multilane highways is discussed. The system, named Safe-T-Cam, is capable of operating 24 hours per day in all but extreme weather conditions and can capture still images of vehicles traveling up to 160 km/hr. Systems operating at different remote locations are networked to allow transmission of images and data to a control center. A remote site facility comprises a vehicle detection and classification module (VCDM), an image acquisition module (IAM) and a license plate recognition module (LPRM). The remote site is connected to the central site by an ISDN communications network. The remote site system is discussed in this paper. The VCDM consists of a video camera, a specialized exposure control unit to maintain consistent image characteristics, and a 'real-time' image processing system that processes 50 images per second. The VCDM can detect and classify vehicles (e.g. cars from trucks). The vehicle class is used to determine what data should be recorded. The VCDM uses a vehicle tracking technique to allow optimum triggering of the high resolution camera of the IAM. The IAM camera combines the features necessary to operate consistently in the harsh environment encountered when imaging a vehicle 'head-on' in both day and night conditions. The image clarity obtained is ideally suited for automatic location and recognition of the vehicle license plate. This paper discusses the camera geometry, sensor characteristics and the image processing methods which permit consistent vehicle segmentation from a cluttered background allowing object oriented pattern recognition to be used for vehicle classification. The image capture of high resolution images and the image characteristics required for the LPRMs automatic reading of vehicle license plates, is also discussed. The results of field tests presented demonstrate that the vision based Safe-T-Cam system, currently installed on open highways, is capable of producing automatic classification of vehicle class and recording of vehicle numberplates with a success rate around 90 percent in a period of 24 hours.

Design of a Solar Sail Mission to Mars

NASA Technical Reports Server (NTRS)

Feaux, K.; Jordan, W.; Killough, G.; Miller, R.; Plunk, V.

1989-01-01

A new area of interest in space vehicles is the solar sail. Various applications for which it has been considered are attitude control of satellites, focusing light on the jungles of Vietnam, and a Halley's comet rendezvous. Although for various reasons these projects were never completed, new interest in solar sails has arisen. The solar sail is an alternative to the rocket-propelled space vehicle as an interplanetary cargo vehicle, and manufacture of solar sails on the space station is a possibility. Solar sails have several advantages over rockets, including an unlimited power supply and low maintenance. The purpose of this project is to design a solar sail mission to Mars. The spacecraft will efficiently journey to Mars powered only by a solar sail. The vehicle weighs 487.16 kg and will be launchable on an expendable launch vehicle. The project includes an investigation of options to minimize cost, weight, and flight duration. The design of the sail and its deployment system are a major part of the project, as is the actual mission planning. Various topics researched include solar power, material, space environment, thermal control, trajectories, and orbit transfer. Various configurations are considered in order to determine the optimal structure. Another design consideration is the control system of the vehicle. This system includes the attitude control and the communication system of the sail. This project will aid in determining the feasibility of a solar sail and will raise public interest in space research.

A Descent Rate Control Approach to Developing an Autonomous Descent Vehicle

NASA Astrophysics Data System (ADS)

Fields, Travis D.

Circular parachutes have been used for aerial payload/personnel deliveries for over 100 years. In the past two decades, significant work has been done to improve the landing accuracies of cargo deliveries for humanitarian and military applications. This dissertation discusses the approach developed in which a circular parachute is used in conjunction with an electro-mechanical reefing system to manipulate the landing location. Rather than attempt to steer the autonomous descent vehicle directly, control of the landing location is accomplished by modifying the amount of time spent in a particular wind layer. Descent rate control is performed by reversibly reefing the parachute canopy. The first stage of the research investigated the use of a single actuation during descent (with periodic updates), in conjunction with a curvilinear target. Simulation results using real-world wind data are presented, illustrating the utility of the methodology developed. Additionally, hardware development and flight-testing of the single actuation autonomous descent vehicle are presented. The next phase of the research focuses on expanding the single actuation descent rate control methodology to incorporate a multi-actuation path-planning system. By modifying the parachute size throughout the descent, the controllability of the system greatly increases. The trajectory planning methodology developed provides a robust approach to accurately manipulate the landing location of the vehicle. The primary benefits of this system are the inherent robustness to release location errors and the ability to overcome vehicle uncertainties (mass, parachute size, etc.). A separate application of the path-planning methodology is also presented. An in-flight path-prediction system was developed for use in high-altitude ballooning by utilizing the path-planning methodology developed for descent vehicles. The developed onboard system improves landing location predictions in-flight using collected flight information during the ascent and descent. Simulation and real-world flight tests (using the developed low-cost hardware) demonstrate the significance of the improvements achievable when flying the developed system.

Automatic guidance control of an articulated all-wheel-steered vehicle

NASA Astrophysics Data System (ADS)

Kim, Young Chol; Yun, Kyong-Han; Min, Kyung-Deuk

2014-04-01

This paper presents automatic guidance control of a single-articulated all-wheel-steered vehicle being developed by the Korea Railroad Research Institute. The vehicle has an independent drive motor on each wheel except for the front axle. The guidance controller is designed so that the vehicle follows the given reference path within permissible lateral deviations. We use a three-input/three-output linearised model derived from the nonlinear dynamic model of the vehicle. For the purpose of simplifying the controller and making it tunable, we consider a decentralised control configuration. We first design a second-order decoupling compensator for the two-input/two-output system that is strongly coupled and then design a first-order controller for each decoupled feedback loop by using the characteristic ratio assignment method. The simulation results for the nonlinear dynamic model indicate that the proposed control configuration successfully achieves the design objectives.

Optimum Vehicle Component Integration with InVeST (Integrated Vehicle Simulation Testbed)

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ng, W; Paddack, E; Aceves, S

2001-12-27

We have developed an Integrated Vehicle Simulation Testbed (InVeST). InVeST is based on the concept of Co-simulation, and it allows the development of virtual vehicles that can be analyzed and optimized as an overall integrated system. The virtual vehicle is defined by selecting different vehicle components from a component library. Vehicle component models can be written in multiple programming languages running on different computer platforms. At the same time, InVeST provides full protection for proprietary models. Co-simulation is a cost-effective alternative to competing methodologies, such as developing a translator or selecting a single programming language for all vehicle components. InVeSTmore » has been recently demonstrated using a transmission model and a transmission controller model. The transmission model was written in SABER and ran on a Sun/Solaris workstation, while the transmission controller was written in MATRIXx and ran on a PC running Windows NT. The demonstration was successfully performed. Future plans include the applicability of Co-simulation and InVeST to analysis and optimization of multiple complex systems, including those of Intelligent Transportation Systems.« less

Navigation of military and space unmanned ground vehicles in unstructured terrains

NASA Technical Reports Server (NTRS)

Lescoe, Paul; Lavery, David; Bedard, Roger

1991-01-01

Development of unmanned vehicles for local navigation in terrains unstructured by humans is reviewed. Modes of navigation include teleoperation or remote control, computer assisted remote driving (CARD), and semiautonomous navigation (SAN). A first implementation of a CARD system was successfully tested using the Robotic Technology Test Vehicle developed by Jet Propulsion Laboratory. Stereo pictures were transmitted to a remotely located human operator, who performed the sensing, perception, and planning functions of navigation. A computer provided range and angle measurements and the path plan was transmitted to the vehicle which autonomously executed the path. This implementation is to be enhanced by providing passive stereo vision and a reflex control system for autonomously stopping the vehicle if blocked by an obstacle. SAN achievements include implementation of a navigation testbed on a six wheel, three-body articulated rover vehicle, development of SAN algorithms and code, integration of SAN software onto the vehicle, and a successful feasibility demonstration that represents a step forward towards the technology required for long-range exploration of the lunar or Martian surface. The vehicle includes a passive stereo vision system with real-time area-based stereo image correlation, a terrain matcher, a path planner, and a path execution planner.

Use of Dynamic Distortion to Predict and Alleviate Loss of Control

NASA Technical Reports Server (NTRS)

Klyde, David; Liang, Chi-Ying; Alvarez, Daniel

2011-01-01

This research has developed and evaluated the specific concepts, termed Smart-Cue and Smart-Gain, to alleviate aircraft loss of control that results from unfavorable pilot/vehicle system interactions, including pilot-induced oscillations (PIOs). Unfavorable pilot/ vehicle-system interactions have long been an aviation safety problem. While the effective aircraft dynamic properties involved in these events have been extensively studied and understood, similar scrutiny has not been paid to the many aspects of the primary manual control system that converts the pilot control inputs to motions of the control surfaces. The purpose of the Smart-Cue and Smart-Gain developments is to redress this neglect, and to develop and validate remedial manual control systems.

Integrated Vehicle Ground Vibration Testing in Support of NASA Launch Vehicle Loads and Controls Analysis

NASA Technical Reports Server (NTRS)

Tuma, Margaret L.; Davis, Susan R.; Askins, Bruce R.; Salyer, Blaine H.

2008-01-01

The National Aeronautics and Space Administration (NASA) Ares Projects Office (APO) is continuing to make progress toward the final design of the Ares I crew launch vehicle and Ares V cargo launch vehicle. Ares I and V will form the space launch capabilities necessary to fulfill NASA's exploration strategy of sending human beings to the Moon, Mars, and beyond. As with all new space vehicles there will be a number of tests to ensure the design can be Human Rated. One of these is the Integrated Vehicle Ground Vibration Test (IVGVT) that will be measuring responses of the Ares I as a system. All structural systems possess a basic set of physical characteristics unique to that system. These unique characteristics include items such as mass distribution, frequency and damping. When specified, they allow engineers to understand and predict how a structural system like the Ares I launch vehicle behaves under given loading conditions. These physical properties of launch vehicles may be predicted by analysis or measured through certain types of tests. Generally, these properties are predicted by analysis during the design phase of a launch vehicle and then verified through testing before the vehicle is Human Rated. The IVGVT is intended to measure by test the fundamental dynamic characteristics of Ares I during various phases of operational/flight. This testing includes excitations of the vehicle in lateral, longitudinal, and torsional directions at vehicle configurations representing different trajectory points. During the series of tests, properties such as natural frequencies, mode shapes, and transfer functions are measured directly. These data will then be used to calibrate loads and Guidance, Navigation, and Controls (GN&C) analysis models for verifying analyses of Ares I. NASA launch vehicles from Saturn to Shuttle have undergone Ground Vibration Tests (GVTs) leading to successful launch vehicles. A GVT was not performed on the unmanned Delta III. This vehicle was lost during launch. Subsequent analyses indicated that had a GVT been conducted on the vehicle, problems with vehicle modes and control may have been discovered and corrected, avoiding loss of the vehicle/mission. This paper will address GVT planning, set-up, conduction and analyses, for the Saturn and Shuttle programs, and also focus on the current and on-going planning for the Ares I and V IVGVT.

Intelligent Vehicle Initiative Forum : proceedings

DOT National Transportation Integrated Search

1997-08-05

This event, jointly sponsored by ITS Americas Advanced Vehicle Control and Safety Systems (AVCSS) and Safety and Human Factors (S&HF) Committees, was designed to review and discuss the U.S. Department of Transportations Intelligent Vehicle Init...

Controllable Buoys and Networked Buoy Systems

NASA Technical Reports Server (NTRS)

Davoudi, Farhooman (Inventor); Davoodi, Faranak (Inventor)

2017-01-01

Buoyant sensor networks are described, comprising floating buoys with sensors and energy harvesting capabilities. The buoys can control their buoyancy and motion, and can organize communication in a distributed fashion. Some buoys may have tethered underwater vehicles with a smart spooling system that allows the vehicles to dive deep underwater while remaining in communication and connection with the buoys.

The X-43A Hyper-X Mach 7 Flight 2 Guidance, Navigation, and Control Overview and Flight Test Results

NASA Technical Reports Server (NTRS)

Bahm, Catherine; Baumann, Ethan; Martin, John; Bose, David; Beck, Roger E.; Strovers, Brian

2005-01-01

The objective of the Hyper-X program was to flight demonstrate an airframe-integrated hypersonic vehicle. On March 27, 2004, the Hyper-X program team successfully conducted flight 2 and achieved all of the research objectives. The Hyper-X research vehicle successfully separated from the Hyper-X launch vehicle and achieved the desired engine test conditions before the experiment began. The research vehicle rejected the disturbances caused by the cowl door opening and the fuel turning on and off and maintained the engine test conditions throughout the experiment. After the engine test was complete, the vehicle recovered and descended along a trajectory while performing research maneuvers. The last data acquired showed that the vehicle maintained control to the water. This report will provide an overview of the research vehicle guidance and control systems and the performance of the vehicle during the separation event and engine test. The research maneuvers were performed to collect data for aerodynamics and flight controls research. This report also will provide an overview of the flight controls related research and results.

Development Of Performance Specifications For Collision Avoidance Systems For Lane Change, Merging, And Backing, Task 3 - Interim Report: Test Of Existing Hardware

DOT National Transportation Integrated Search

1995-05-01

KEYWORDS : ADVANCED VEHICLE CONTROL & SAFETY SYSTEMS OR AVCSS, COLLISION WARNING/AVOIDANCE SYSTEMS, CRASH REDUCTION, INTELLIGENT VEHICLE INITIATIVE OR IVI : RESULTS FROM THE TESTING OF ELEVEN COLLISION AVOIDANCE SYSTEMS (CAS) FOR LANE CHANGE, ...

Space Launch System Ascent Flight Control Design

NASA Technical Reports Server (NTRS)

VanZwieten, Tannen S.; Orr, Jeb S.; Wall, John H.; Hall, Charles E.

2014-01-01

A robust and flexible autopilot architecture for NASA's Space Launch System (SLS) family of launch vehicles is presented. As the SLS configurations represent a potentially significant increase in complexity and performance capability of the integrated flight vehicle, it was recognized early in the program that a new, generalized autopilot design should be formulated to fulfill the needs of this new space launch architecture. The present design concept is intended to leverage existing NASA and industry launch vehicle design experience and maintain the extensibility and modularity necessary to accommodate multiple vehicle configurations while relying on proven and flight-tested control design principles for large boost vehicles. The SLS flight control architecture combines a digital three-axis autopilot with traditional bending filters to support robust active or passive stabilization of the vehicle's bending and sloshing dynamics using optimally blended measurements from multiple rate gyros on the vehicle structure. The algorithm also relies on a pseudo-optimal control allocation scheme to maximize the performance capability of multiple vectored engines while accommodating throttling and engine failure contingencies in real time with negligible impact to stability characteristics. The architecture supports active in-flight load relief through the use of a nonlinear observer driven by acceleration measurements, and envelope expansion and robustness enhancement is obtained through the use of a multiplicative forward gain modulation law based upon a simple model reference adaptive control scheme.

Space Launch System Ascent Flight Control Design

NASA Technical Reports Server (NTRS)

Orr, Jeb S.; Wall, John H.; VanZwieten, Tannen S.; Hall, Charles E.

2014-01-01

A robust and flexible autopilot architecture for NASA's Space Launch System (SLS) family of launch vehicles is presented. The SLS configurations represent a potentially significant increase in complexity and performance capability when compared with other manned launch vehicles. It was recognized early in the program that a new, generalized autopilot design should be formulated to fulfill the needs of this new space launch architecture. The present design concept is intended to leverage existing NASA and industry launch vehicle design experience and maintain the extensibility and modularity necessary to accommodate multiple vehicle configurations while relying on proven and flight-tested control design principles for large boost vehicles. The SLS flight control architecture combines a digital three-axis autopilot with traditional bending filters to support robust active or passive stabilization of the vehicle's bending and sloshing dynamics using optimally blended measurements from multiple rate gyros on the vehicle structure. The algorithm also relies on a pseudo-optimal control allocation scheme to maximize the performance capability of multiple vectored engines while accommodating throttling and engine failure contingencies in real time with negligible impact to stability characteristics. The architecture supports active in-flight disturbance compensation through the use of nonlinear observers driven by acceleration measurements. Envelope expansion and robustness enhancement is obtained through the use of a multiplicative forward gain modulation law based upon a simple model reference adaptive control scheme.

40 CFR 799.9130 - TSCA acute inhalation toxicity.

Code of Federal Regulations, 2012 CFR

2012-07-01

... of the substance in the atmosphere, a vehicle control group should be used when historical data are... system to assign animals to test groups and control groups randomly is required. (2) Control groups. A concurrent untreated control group is not necessary. Where a vehicle other than water is used to generate an...

40 CFR 799.9130 - TSCA acute inhalation toxicity.

Code of Federal Regulations, 2013 CFR

2013-07-01

... of the substance in the atmosphere, a vehicle control group should be used when historical data are... system to assign animals to test groups and control groups randomly is required. (2) Control groups. A concurrent untreated control group is not necessary. Where a vehicle other than water is used to generate an...

40 CFR 799.9130 - TSCA acute inhalation toxicity.

Code of Federal Regulations, 2014 CFR

2014-07-01

... of the substance in the atmosphere, a vehicle control group should be used when historical data are... system to assign animals to test groups and control groups randomly is required. (2) Control groups. A concurrent untreated control group is not necessary. Where a vehicle other than water is used to generate an...

40 CFR 86.1834-01 - Allowable maintenance.

Code of Federal Regulations, 2014 CFR

2014-07-01

... section are considered an element of design of the emission control system. Therefore, disabling... (CONTINUED) CONTROL OF EMISSIONS FROM NEW AND IN-USE HIGHWAY VEHICLES AND ENGINES General Compliance Provisions for Control of Air Pollution From New and In-Use Light-Duty Vehicles, Light-Duty Trucks, and...

40 CFR 86.1803-01 - Definitions.

Code of Federal Regulations, 2010 CFR

2010-07-01

... which are designed primarily for emission control, or whose failure may result in a significant increase... waiver of emission data submission requirements under § 86.1829-01. Element of design means any control... a motor vehicle or motor vehicle engine. Emission control system is a unique group of emission...

An electromechanical actuation system for an expendable launch vehicle

NASA Technical Reports Server (NTRS)

Burrows, Linda M.; Roth, Mary Ellen

1992-01-01

A major effort at the NASA Lewis Research Center in recent years has been to develop electro-mechanical actuators (EMA's) to replace the hydraulic systems used for thrust vector control (TVC) on launch vehicles. This is an attempt ot overcome the inherent inefficiencies and costs associated with the existing hydraulic structures. General Dynamics Space Systems Division, under contract to NASA Lewis, is developing 18.6 kW (25 hp), 29.8 kW (40 hp), and 52.2 kW (70 hp) peak EMA systems to meet the power demands for TVC on a family of vehicles developed for the National Launch System. These systems utilize a pulse population modulated converter and field-oriented control scheme to obtain independent control of both the voltage and frequency. These techniques allow an induction motor to be operated at its maximum torque at all times. At NASA Lewis, we are building on this technology to develop our own in-house system capable of meeting the peak power requirements for an expendable launch vehicle (ELV) such as the Atlas. Our EMA will be capable of delivering 22.4 kW (30 hp) peak power with a nominal of 6.0 kW (8 hp). This system differs from the previous ones in two areas: (1) the use of advanced control methods, and (2) the incorporation of built-in-test. The advanced controls are essential for minimizing the controller size, while the built-in-test is necessary to enhance the system reliability and vehicle health monitoring. The ultimate goal of this program is to demonstrate an EMA which will be capable of self-test and easy integration into other projects. This paper will describe the effort underway at NASA Lewis to develop an EMA for an Atlas class ELV. An explanation will be given for each major technology block, and the status of each major technology block and the status of the overall program will be reported.

78 FR 29815 - Control of Air Pollution From Motor Vehicles: Tier 3 Motor Vehicle Emission and Fuel Standards

Federal Register 2010, 2011, 2012, 2013, 2014

2013-05-21

...This action would establish more stringent vehicle emissions standards and reduce the sulfur content of gasoline beginning in 2017, as part of a systems approach to addressing the impacts of motor vehicles and fuels on air quality and public health. The proposed gasoline sulfur standard would make emission control systems more effective for both existing and new vehicles, and would enable more stringent vehicle emissions standards. The proposed vehicle standards would reduce both tailpipe and evaporative emissions from passenger cars, light-duty trucks, medium-duty passenger vehicles, and some heavy-duty vehicles. This would result in significant reductions in pollutants such as ozone, particulate matter, and air toxics across the country and help state and local agencies in their efforts to attain and maintain health-based National Ambient Air Quality Standards. Motor vehicles are an important source of exposure to air pollution both regionally and near roads. These proposed vehicle standards are intended to harmonize with California's Low Emission Vehicle program, thus creating a federal vehicle emissions program that would allow automakers to sell the same vehicles in all 50 states. The proposed vehicle standards would be implemented over the same timeframe as the greenhouse gas/fuel efficiency standards for light-duty vehicles, as part of a comprehensive approach toward regulating emissions from motor vehicles.

The integrated manual and automatic control of complex flight systems

NASA Technical Reports Server (NTRS)

Schmidt, David K.

1991-01-01

Research dealt with the general area of optimal flight control synthesis for manned flight vehicles. The work was generic; no specific vehicle was the focus of study. However, the class of vehicles generally considered were those for which high authority, multivariable control systems might be considered, for the purpose of stabilization and the achievement of optimal handling characteristics. Within this scope, the topics of study included several optimal control synthesis techniques, control-theoretic modeling of the human operator in flight control tasks, and the development of possible handling qualities metrics and/or measures of merit. Basic contributions were made in all these topics, including human operator (pilot) models for multi-loop tasks, optimal output feedback flight control synthesis techniques; experimental validations of the methods developed, and fundamental modeling studies of the air-to-air tracking and flared landing tasks.

Expert system decision support for low-cost launch vehicle operations

NASA Technical Reports Server (NTRS)

Szatkowski, G. P.; Levin, Barry E.

1991-01-01

Progress in assessing the feasibility, benefits, and risks associated with AI expert systems applied to low cost expendable launch vehicle systems is described. Part one identified potential application areas in vehicle operations and on-board functions, assessed measures of cost benefit, and identified key technologies to aid in the implementation of decision support systems in this environment. Part two of the program began the development of prototypes to demonstrate real-time vehicle checkout with controller and diagnostic/analysis intelligent systems and to gather true measures of cost savings vs. conventional software, verification and validation requirements, and maintainability improvement. The main objective of the expert advanced development projects was to provide a robust intelligent system for control/analysis that must be performed within a specified real-time window in order to meet the demands of the given application. The efforts to develop the two prototypes are described. Prime emphasis was on a controller expert system to show real-time performance in a cryogenic propellant loading application and safety validation implementation of this system experimentally, using commercial-off-the-shelf software tools and object oriented programming techniques. This smart ground support equipment prototype is based in C with imbedded expert system rules written in the CLIPS protocol. The relational database, ORACLE, provides non-real-time data support. The second demonstration develops the vehicle/ground intelligent automation concept, from phase one, to show cooperation between multiple expert systems. This automated test conductor (ATC) prototype utilizes a knowledge-bus approach for intelligent information processing by use of virtual sensors and blackboards to solve complex problems. It incorporates distributed processing of real-time data and object-oriented techniques for command, configuration control, and auto-code generation.

Collision Avoidance, Driver Support and Safety Intervention Systems

NASA Astrophysics Data System (ADS)

Gilling, Simon P.

Autonomous Intelligent Cruise Control (AICC) will be marketed by a number of vehicle manufacturers before the end of the decade. This paper will describe AICC and the next generation systems currently being developed and validated within the EC Fourth Framework project, Anti-Collision Autonomous Support and Safety Intervention SysTem (AC ASSIST).The currently available cruise control systems which maintain a fixed speed are a well-known form of longitudinal driver support. The fixed speed cruise control becomes less useful with increased traffic volumes, as the driver must disable the system when a slower preceding vehicle is encountered.

Occupant-vehicle dynamics and the role of the internal model

NASA Astrophysics Data System (ADS)

Cole, David J.

2018-05-01

With the increasing need to reduce time and cost of vehicle development there is increasing advantage in simulating mathematically the dynamic interaction of a vehicle and its occupant. The larger design space arising from the introduction of automated vehicles further increases the potential advantage. The aim of the paper is to outline the role of the internal model hypothesis in understanding and modelling occupant-vehicle dynamics, specifically the dynamics associated with direction and speed control of the vehicle. The internal model is the driver's or passenger's understanding of the vehicle dynamics and is thought to be employed in the perception, cognition and action processes of the brain. The internal model aids the estimation of the states of the vehicle from noisy sensory measurements. It can also be used to optimise cognitive control action by predicting the consequence of the action; thus model predictive control (MPC) theory provides a foundation for modelling the cognition process. The stretch reflex of the neuromuscular system also makes use of the prediction of the internal model. Extensions to the MPC approach are described which account for: interaction with an automated vehicle; robust control; intermittent control; and cognitive workload. Further work to extend understanding of occupant-vehicle dynamic interaction is outlined. This paper is based on a keynote presentation given by the author to the 13th International Symposium on Advanced Vehicle Control (AVEC) conference held in Munich, September 2016.

Indirect adaptive output feedback control of a biorobotic AUV using pectoral-like mechanical fins.

PubMed

Naik, Mugdha S; Singh, Sahjendra N; Mittal, Rajat

2009-06-01

This paper treats the question of servoregulation of autonomous underwater vehicles (AUVs) in the yaw plane using pectoral-like mechanical fins. The fins attached to the vehicle have oscillatory swaying and yawing motion. The bias angle of the angular motion of the fin is used for the purpose of control. Of course, the design approach considered here is applicable to AUVs for other choices of oscillation patterns of the fins, which produce periodic forces and moments. It is assumed that the vehicle parameters, hydrodynamic coefficients, as well the fin forces and moments are unknown. For the trajectory control of the yaw angle, a sampled-data indirect adaptive control system using output (yaw angle) feedback is derived. The control system has a modular structure, which includes a parameter identifier and a stabilizer. For the control law derivation, an internal model of the exosignals (reference signal (constant or ramp) and constant disturbance) is included. Unlike the direct adaptive control scheme, the derived control law is applicable to minimum as well as nonminimum phase biorobotic AUVs (BAUVs). This is important, because for most of the fin locations on the vehicle, the model is a nonminimum phase. In the closed-loop system, the yaw angle trajectory tracking error converges to zero and the remaining state variables remain bounded. Simulation results are presented which show that the derived modular control system accomplishes precise set point yaw angle control and turning maneuvers in spite of the uncertainties in the system parameters using only yaw angle feedback.

Adaptive cruise control with stop&go function using the state-dependent nonlinear model predictive control approach.

PubMed

Shakouri, Payman; Ordys, Andrzej; Askari, Mohamad R

2012-09-01

In the design of adaptive cruise control (ACC) system two separate control loops - an outer loop to maintain the safe distance from the vehicle traveling in front and an inner loop to control the brake pedal and throttle opening position - are commonly used. In this paper a different approach is proposed in which a single control loop is utilized. The objective of the distance tracking is incorporated into the single nonlinear model predictive control (NMPC) by extending the original linear time invariant (LTI) models obtained by linearizing the nonlinear dynamic model of the vehicle. This is achieved by introducing the additional states corresponding to the relative distance between leading and following vehicles, and also the velocity of the leading vehicle. Control of the brake and throttle position is implemented by taking the state-dependent approach. The model demonstrates to be more effective in tracking the speed and distance by eliminating the necessity of switching between the two controllers. It also offers smooth variation in brake and throttle controlling signal which subsequently results in a more uniform acceleration of the vehicle. The results of proposed method are compared with other ACC systems using two separate control loops. Furthermore, an ACC simulation results using a stop&go scenario are shown, demonstrating a better fulfillment of the design requirements. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

Designing Effective In-vehicle Icons

DOT National Transportation Integrated Search

1975-04-01

The design of a system for scanning sequences of aerial photographs with a computer-controlled flying-spot scanner and automatically measuring vehicle locations is described. Hardware and software requirements for an operational system of this type a...

Tranzit XPress : hazardous material fleet management and monitoring system : evaluation report

DOT National Transportation Integrated Search

1997-07-01

In this report the evaluation performed on the first phase of the Tranzit XPress system is presented. The system comprises of a traffic/safety control center, motor vehicle instrumentation, and a variety of off vehicle tools that communicate with eac...

Electronic and software subsystems for an autonomous roving vehicle. M.S. Thesis

NASA Technical Reports Server (NTRS)

Doig, G. A.

1980-01-01

The complete electronics packaging which controls the Mars roving vehicle is described in order to provide a broad overview of the systems that are part of that package. Some software debugging tools are also discussed. Particular emphasis is given to those systems that are controlled by the microprocessor. These include the laser mast, the telemetry system, the command link prime interface board, and the prime software.

Emergency automatic signalling system using time scheduling

NASA Astrophysics Data System (ADS)

Rayavel, P.; Surenderanath, S.; Rathnavel, P.; Prakash, G.

2018-04-01

It is difficult to handle traffic congestion and maintain roads during traffic mainly in India. As the people migrate from rural to urban and sub-urban areas, it becomes still more critical. Presently Roadways is a standout amongst the most vital transportation. At the point when a car crash happens, crisis vehicles, for example, ambulances and fire trucks must rush to the mischance scene. There emerges a situation where a portion of the crisis vehicles may cause another car crash. Therefore it becomes still more difficult for emergency vehicle to reach the destination within a predicted time. To avoid that kind of problem we have come out with an effective idea which can reduce the potential in the traffic system. The traffic system is been modified using a wireless technology and high speed micro controller to provide smooth and clear flow of traffic for ambulance to reach the destination on time. This is achieved by using RFID Tag at the ambulance and RFID Reader at the traffic system i.e., traffic signal. This mainly deals with identifying the emergency vehicle and providing a green signal to traffic signal at time of traffic jam. — By assigning priorities to various traffic movements, we can control the traffic jam. In some moments like ambulance emergency, high delegates arrive people facing lot of trouble. To overcome this problem in this paper we propose a time priority based traffic system achieved by using RFID transmitter at the emergency vehicle and RFID receiver at the traffic system i.e., traffic signal. The signal from the emergency vehicle is sent to traffic system which after detecting it sends it to microcontroller which controls the traffic signal. If any emergency vehicle is detected the system goes to emergency system mode where signal switch to green and if it is not detected normal system mode.

A novel pre-control method of vehicle dynamics stability based on critical stable velocity during transient steering maneuvering

NASA Astrophysics Data System (ADS)

Chen, Jie; Song, Jian; Li, Liang; Ran, Xu; Jia, Gang; Wu, Kaihui

2016-05-01

The current research of direct yaw moment control (DYC) system focus on the design of target yaw moment and the distribution of wheel brake force. The differential braking intervention can effectively improve the lateral stability of the vehicle, however, the effect of DYC can be improved a step further by applying the control of vehicle longitudinal velocity. In this paper, the relationship between the vehicle longitudinal velocity and lateral stability is studied, and the simulation results show that a decrease of 5 km/h of longitudinal velocity at a particular situation can bring 100° increasing of stable steering upper limit. A critical stable velocity considering the effect of steering and yaw rate measurement is defined to evaluate the risk of losing steer-ability or stability. A novel velocity pre-control method is proposed by using a hierarchical pre-control logic and is integrated with the traditional DYC system. The control algorithm is verified through a hardware in-the-loop simulation system. Double lane change (DLC) test results on both high friction coefficient (μ) and low μ roads show that by using the pre-control method, the steering effort in DLC test can be reduced by 38% and 51% and the peak value of brake pressure control can be reduced by 20% and 12% respectively on high μ and low μ roads, the lateral stability is also improved. This research proposes a novel DYC system with lighter control effort and better control effect.

Advanced extravehicular protective systems study, volume 1

NASA Technical Reports Server (NTRS)

Sutton, J. G.; Heimlich, P. F.; Tepper, E. H.

1972-01-01

An appraisal was made of advanced portable and emergency life support systems concepts for space station, space shuttle, lunar base, and Mars EVA missions. Specifications are given, and the methodology is described. Subsystem studies and systems integration efforts are summarized. Among the conclusions are the following: (1) For long duration missions, a configuration incorporating a regenerable CO2 control subsystem and a thermal control subsystem utilizing a minimum of expendables decreases the vehicle penalty of present configurations. (2) For shorter duration missions, a configuration incorporating an expendable water thermal control subsystem is the most competitive subsystem; regenerable CO2 control subsystems if properly developed are competitive with nonregenerable counterparts. (3) The CO2 reduction and oxygen reclamation withing the parent vehicle is only competitive when there are three or more parent vehicle resupply periods. (4) For long duration emergency systems of one hour or more, inherent redundancy within the primary configuration to provide emergency thermal control is the most competitive approach.

The Launch Processing System for Space Shuttle.

NASA Technical Reports Server (NTRS)

Springer, D. A.

1973-01-01

In order to reduce costs and accelerate vehicle turnaround, a single automated system will be developed to support shuttle launch site operations, replacing a multiplicity of systems used in previous programs. The Launch Processing System will provide real-time control, data analysis, and information display for the checkout, servicing, launch, landing, and refurbishment of the launch vehicles, payloads, and all ground support systems. It will also provide real-time and historical data retrieval for management and sustaining engineering (test records and procedures, logistics, configuration control, scheduling, etc.).

Flight Testing of the Space Launch System (SLS) Adaptive Augmenting Control (AAC) Algorithm on an F/A-18

NASA Technical Reports Server (NTRS)

Dennehy, Cornelius J.; VanZwieten, Tannen S.; Hanson, Curtis E.; Wall, John H.; Miller, Chris J.; Gilligan, Eric T.; Orr, Jeb S.

2014-01-01

The Marshall Space Flight Center (MSFC) Flight Mechanics and Analysis Division developed an adaptive augmenting control (AAC) algorithm for launch vehicles that improves robustness and performance on an as-needed basis by adapting a classical control algorithm to unexpected environments or variations in vehicle dynamics. This was baselined as part of the Space Launch System (SLS) flight control system. The NASA Engineering and Safety Center (NESC) was asked to partner with the SLS Program and the Space Technology Mission Directorate (STMD) Game Changing Development Program (GCDP) to flight test the AAC algorithm on a manned aircraft that can achieve a high level of dynamic similarity to a launch vehicle and raise the technology readiness of the algorithm early in the program. This document reports the outcome of the NESC assessment.

Optimization of armored fighting vehicle crew performance in a net-centric battlefield

NASA Astrophysics Data System (ADS)

McKeen, William P.; Espenant, Mark

2002-08-01

Traditional display, control and situational awareness technologies may not allow the fighting vehicle commander to take full advantage of the rich data environment made available in the net-centric battle field of the future. Indeed, the sheer complexity and volume of available data, if not properly managed, may actually reduce crew performance by overloading or confusing the commander with irrelevant information. New techniques must be explored to understand how to present battlefield information and provide the commander with continuous high quality situational awareness without significant cognitive overhead. Control of the vehicle's many complex systems must also be addressed the entire Soldier Machine Interface must be optimized if we are to realize the potential performance improvements. Defence Research and Development Canada (DRDC) and General Dynamics Canada Ltd. have embarked on a joint program called Future Armoured Fighting Vehicle Systems Technology Demonstrator, to explore these issues. The project is based on man-in-the-loop experimentation using virtual reality technology on a six degree-of-freedom motion platform that simulates the motion, sights and sounds inside a future armoured vehicle. The vehicle commander is provided with a virtual reality vision system to view a simulated 360 degree multi-spectrum representation of the battlespace, thus providing enhanced situational awareness. Graphic overlays with decision aid information will be added to reduce cognitive loading. Experiments will be conducted to evaluate the effectiveness of virtual control systems. The simulations are carried out in a virtual battlefield created by linking our simulation system with other simulation centers to provide a net-centric battlespace where enemy forces can be engaged in fire fights. Survivability and lethality will be measured in successive test sequences using real armoured fighting vehicle crews to optimize overall system effectiveness.

Single-channel ground airborne radio system (SINCGARS) based remote control for the M1 Abrahms

NASA Astrophysics Data System (ADS)

Urda, Joseph R.

1995-04-01

Remote control of the Ml Abrahms Main Battle Tank through a minefield breach operation will remove the vehicle crew from the inherent hazard. A successful remote control system will provide automotive control yet not impair normal operation. This requires a minimum of physical parts, and an unobtrusive installation. Most importantly, a system failure must not impair the regular operation as a manned system. The system itself need not be complex. A minefield breach only requires simple control of automotive function and a mine plow interface. Control hardware for the Ml-Al can be reduced to two linear actuators, an electrical interface for the engine control unit, an interface for the mine plow, and the associated cables. Communication between vehicle control and operator control takes place over the vehicles organic radio (typically SINCGARS). This helps reduce the number of special purpose components for the remote control device. The device is currently awaiting an automotive safety test to prepare for its safety release. Because of the specific nature of the MDL-STD 1553-B data bus the device will not control an M1-A2 Main Battle Tank. The architecture will allow control of the M1-A2 through the 1553-B data bus however the physical hardware has not been constructed. The control scheme will not change. The communication interface will provide greater flexibility when interfacing to the vehicle tactical radio. Operational utility will be determined by U.S. Army Training and Doctrine Command personnel. The obvious benefit is that if a remote tank is lost during a minefield breach the crew is saved.

Cost-effectiveness of integrated analysis/design systems /IPAD/ An executive summary. II. [for aerospace vehicles

NASA Technical Reports Server (NTRS)

Miller, R. E., Jr.; Hansen, S. D.; Redhed, D. D.; Southall, J. W.; Kawaguchi, A. S.

1974-01-01

Evaluation of the cost-effectiveness of integrated analysis/design systems with particular attention to Integrated Program for Aerospace-Vehicle Design (IPAD) project. An analysis of all the ingredients of IPAD indicates the feasibility of a significant cost and flowtime reduction in the product design process involved. It is also concluded that an IPAD-supported design process will provide a framework for configuration control, whereby the engineering costs for design, analysis and testing can be controlled during the air vehicle development cycle.

Status and trends in active control technology

NASA Technical Reports Server (NTRS)

Rediess, H. A.; Szalai, K. J.

1975-01-01

The emergence of highly reliable fly-by-wire flight control systems makes it possible to consider a strong reliance on automatic control systems in the design optimization of future aircraft. This design philosophy has been referred to as the control configured vehicle approach or the application of active control technology. Several studies and flight tests sponsored by the Air Force and NASA have demonstrated the potential benefits of control configured vehicles and active control technology. The present status and trends of active control technology are reviewed and the impact it will have on aircraft designs, design techniques, and the designer is predicted.

Benefit-cost evaluation of a highway-railroad intermodal control system (ICS)

DOT National Transportation Integrated Search

2004-06-01

Improved train location information and vehicle detection combined with grade crossing controls, traveler information, and traffic management can improve safety and reduce delay for both passengers and vehicles. In addition, the possibility of pre-em...

Fourth NASA Inter-Center Control Systems Conference

NASA Technical Reports Server (NTRS)

1978-01-01

Space vehicle control applications are discussed, along with aircraft guidance, control, and handling qualities. System simulation and identification, engine control, advanced propulsion techniques, and advanced control techniques are also included.

40 CFR 86.1844-01 - Information requirements: Application for certification and submittal of information upon request.

Code of Federal Regulations, 2012 CFR

2012-07-01

.... (10) For vehicles with non-integrated refueling emission control systems, a description of the... of Environment ENVIRONMENTAL PROTECTION AGENCY (CONTINUED) AIR PROGRAMS (CONTINUED) CONTROL OF... Control of Air Pollution From New and In-Use Light-Duty Vehicles, Light-Duty Trucks, and Complete Otto...

40 CFR 86.1844-01 - Information requirements: Application for certification and submittal of information upon request.

Code of Federal Regulations, 2013 CFR

2013-07-01

.... (10) For vehicles with non-integrated refueling emission control systems, a description of the... of Environment ENVIRONMENTAL PROTECTION AGENCY (CONTINUED) AIR PROGRAMS (CONTINUED) CONTROL OF... Control of Air Pollution From New and In-Use Light-Duty Vehicles, Light-Duty Trucks, and Complete Otto...

40 CFR 86.1844-01 - Information requirements: Application for certification and submittal of information upon request.

Code of Federal Regulations, 2011 CFR

2011-07-01

.... (10) For vehicles with non-integrated refueling emission control systems, a description of the... of Environment ENVIRONMENTAL PROTECTION AGENCY (CONTINUED) AIR PROGRAMS (CONTINUED) CONTROL OF... Control of Air Pollution From New and In-Use Light-Duty Vehicles, Light-Duty Trucks, and Complete Otto...

40 CFR 86.1844-01 - Information requirements: Application for certification and submittal of information upon request.

Code of Federal Regulations, 2010 CFR

2010-07-01

.... (10) For vehicles with non-integrated refueling emission control systems, a description of the... of Environment ENVIRONMENTAL PROTECTION AGENCY (CONTINUED) AIR PROGRAMS (CONTINUED) CONTROL OF... Control of Air Pollution From New and In-Use Light-Duty Vehicles, Light-Duty Trucks, and Complete Otto...

A genetic technique for planning a control sequence to navigate the state space with a quasi-minimum-cost output trajectory for a non-linear multi-dimnensional system

NASA Technical Reports Server (NTRS)

Hein, C.; Meystel, A.

1994-01-01

There are many multi-stage optimization problems that are not easily solved through any known direct method when the stages are coupled. For instance, we have investigated the problem of planning a vehicle's control sequence to negotiate obstacles and reach a goal in minimum time. The vehicle has a known mass, and the controlling forces have finite limits. We have developed a technique that finds admissible control trajectories which tend to minimize the vehicle's transit time through the obstacle field. The immediate applications is that of a space robot which must rapidly traverse around 2-or-3 dimensional structures via application of a rotating thruster or non-rotating on-off for such vehicles is located at the Marshall Space Flight Center in Huntsville Alabama. However, it appears that the development method is applicable to a general set of optimization problems in which the cost function and the multi-dimensional multi-state system can be any nonlinear functions, which are continuous in the operating regions. Other applications included the planning of optimal navigation pathways through a transversability graph; the planning of control input for under-water maneuvering vehicles which have complex control state-space relationships; the planning of control sequences for milling and manufacturing robots; the planning of control and trajectories for automated delivery vehicles; and the optimization and athletic training in slalom sports.

Detection and enforcement of failure-to-yield in an emergency vehicle preemption system

NASA Technical Reports Server (NTRS)

Bachelder, Aaron (Inventor); Wickline, Richard (Inventor)

2007-01-01

An intersection controlled by an intersection controller receives trigger signals from on-coming emergency vehicles responding to an emergency call. The intersection controller initiates surveillance of the intersection via cameras installed at the intersection in response to a received trigger signal. The surveillance may begin immediately upon receipt of the trigger signal from an emergency vehicle, or may wait until the intersection controller determines that the signaling emergency vehicle is in the field of view of the cameras at the intersection. Portions of the captured images are tagged by the intersection controller based on tag signals transmitted by the vehicle or based on detected traffic patterns that indicate a potential traffic violation. The captured images are downloaded to a processing facility that analyzes the images and automatically issues citations for captured traffic violations.

Overview of NASA's Thermal Control System Development for Exploration Project

NASA Technical Reports Server (NTRS)

Stephan, Ryan A.

2010-01-01

NASA's Constellation Program includes the Orion, Altair, and Lunar Surface Systems project offices. The first two elements, Orion and Altair, are manned space vehicles while the third element is broader and includes several sub-elements including Rovers and a Lunar Habitat. The upcoming planned missions involving these systems and vehicles include several risks and design challenges. Due to the unique thermal environment, many of these risks and challenges are associated with the vehicles' thermal control system. NASA's Exploration Systems Mission Directorate (ESMD) includes the Exploration Technology Development Program (ETDP). ETDP consists of several technology development projects. The project chartered with mitigating the aforementioned risks and design challenges is the Thermal Control System Development for Exploration Project. The risks and design challenges are addressed through a rigorous technology development process that culminates with an integrated thermal control system test. The resulting hardware typically has a Technology Readiness Level (TRL) of six. This paper summarizes the development efforts being performed by the technology development project. The development efforts involve heat acquisition and heat rejection hardware including radiators, heat exchangers, and evaporators. The project has also been developing advanced phase change material heat sinks and performing assessments for thermal control system fluids.

Importance Of Quality Control in Reducing System Risk, a Lesson Learned From The Shuttle and a Recommendation for Future Launch Vehicles

NASA Technical Reports Server (NTRS)

Safie, Fayssal M.; Messer, Bradley P.

2006-01-01

This paper presents lessons learned from the Space Shuttle return to flight experience and the importance of these lessons learned in the development of new the NASA Crew Launch Vehicle (CLV). Specifically, the paper discusses the relationship between process control and system risk, and the importance of process control in improving space vehicle flight safety. It uses the External Tank (ET) Thermal Protection System (TPS) experience and lessons learned from the redesign and process enhancement activities performed in preparation for Return to Flight after the Columbia accident. The paper also, discusses in some details, the Probabilistic engineering physics based risk assessment performed by the Shuttle program to evaluate the impact of TPS failure on system risk and the application of the methodology to the CLV.

Extended-Kalman-filter-based regenerative and friction blended braking control for electric vehicle equipped with axle motor considering damping and elastic properties of electric powertrain

NASA Astrophysics Data System (ADS)

Lv, Chen; Zhang, Junzhi; Li, Yutong

2014-11-01

Because of the damping and elastic properties of an electrified powertrain, the regenerative brake of an electric vehicle (EV) is very different from a conventional friction brake with respect to the system dynamics. The flexibility of an electric drivetrain would have a negative effect on the blended brake control performance. In this study, models of the powertrain system of an electric car equipped with an axle motor are developed. Based on these models, the transfer characteristics of the motor torque in the driveline and its effect on blended braking control performance are analysed. To further enhance a vehicle's brake performance and energy efficiency, blended braking control algorithms with compensation for the powertrain flexibility are proposed using an extended Kalman filter. These algorithms are simulated under normal deceleration braking. The results show that the brake performance and blended braking control accuracy of the vehicle are significantly enhanced by the newly proposed algorithms.

Investigation of Inner Loop Flight Control Strategies for High-Speed Research

NASA Technical Reports Server (NTRS)

Newman, Brett; Kassem, Ayman

1999-01-01

This report describes the activities and findings conducted under contract NAS1-19858 with NASA Langley Research Center. Subject matter is the investigation of suitable flight control design methodologies and solutions for large, flexible high-speed vehicles. Specifically, methodologies are to address the inner control loops used for stabilization and augmentation of a highly coupled airframe system possibly involving rigid-body motion, structural vibrations, unsteady aerodynamics, and actuator dynamics. Techniques considered in this body of work are primarily conventional-based, and the vehicle of interest is the High-Speed Civil Transport (HSCT). Major findings include 1) current aeroelastic vehicle modeling procedures require further emphasis and refinement, 2) traditional and nontraditional inner loop flight control strategies employing a single feedback loop do not appear sufficient for highly flexible HSCT class vehicles, 3) inner loop flight control systems will, in all likelihood, require multiple interacting feedback loops, and 4) Ref. H HSCT configuration presents major challenges to designing acceptable closed-loop flight dynamics.

H-II launch vehicle telemetry system realizing intelligent control of pre-processed data from remote terminal

NASA Astrophysics Data System (ADS)

Tanioka, Noritaka; Yoshida, Yasunori; Obi, Shinzo; Chiba, Ryoichi; Nakai, Kazumoto

The development of a PCM telemetry system for the Japanese H-II launch vehicle is discussed. PCM data streams acquire and process data from remote terminals which can be located at any place near the data source. The data are synchronized by a clock and are individually controlled by a central PCM data processing unit. The system allows the launch vehicle to acquire data from many different areas of the rocket, with a total of 879 channels. The data are multiplexed and processed into one PCM data stream and are down-linked on a phase-modulated RF carrier.

Analysis of Instantaneous Attractive-Normal Force and Vertical Vibration Control of Combined-Levitation-and-Propulsion SLIM Vehicle

NASA Astrophysics Data System (ADS)

Yoshida, Takashi

Combined-levitation-and-propulsion single-sided linear induction motor (SLIM) vehicle can be levitated without any additional levitation system. When the vehicle runs, the attractive-normal force varies depending on the phase of primary current because of the short primary end effect. The ripple of the attractive-normal force causes the vertical vibration of the vehicle. In this paper, instantaneous attractive-normal force is analyzed by using space harmonic analysis method. And based on the analysis, vertical vibration control is proposed. The validity of the proposed control method is verified by numerical simulation.

Phase 1 of the near team hybrid passenger vehicle development program. Appendix C: Preliminary design data package, volume 1

NASA Technical Reports Server (NTRS)

Piccolo, R.

1979-01-01

The methodology used for vehicle layout and component definition is described as well as techniques for system optimization and energy evaluation. The preliminary design is examined with particular attention given to body and structure; propulsion system; crash analysis and handling; internal combustion engine; DC motor separately excited; Ni-Zn battery; transmission; control system; vehicle auxiliarries; weight breakdown, and life cycle costs. Formulas are given for the quantification of energy consumption and results are compared with the reference vehicle.

Aerospace Vehicle Design, Spacecraft Section. Final Project Reports. Volume 2; Project Groups 6-8

NASA Technical Reports Server (NTRS)

1989-01-01

Three groups of student engineers in an aerospace vehicle design course present their designs for a vehicle that can be used to resupply the Space Station Freedam and provide emergency crew return to earth capability. The vehicle's requirements include a lifetime that exceeds six years, low cost, the capability for withstanding pressurization, launch, orbit, and reentry hazards, and reliability. The vehicle's subsystems are structures, communication and command data systems, attitude and articulation control, life support and crew systems, power and propulsion, reentry and recovery systems, and mission management, planning, and costing. Special attention is given to spacecraft communications.

The model of the optical-electronic control system of vehicles location at level crossing

NASA Astrophysics Data System (ADS)

Verezhinskaia, Ekaterina A.; Gorbachev, Aleksei A.; Maruev, Ivan A.; Shavrygina, Margarita A.

2016-04-01

Level crossing - one of the most dangerous sections of the road network, where railway line crosses motor road at the same level. The collision of trains with vehicles at a level crossing is a serious type of road traffic accidents. The purpose of this research is to develop complex optical electronic control system of vehicles location in the dangerous zone of level crossing. The system consists of registration blocks (including photodetector, lens, infrared emitting diode), determinant devices and camera installed within the boundaries of level crossing. The system performs detection of objects (vehicles) by analysing the time of the object movement opposite to the registration block and level of the reflected signal from the object. The paper presents theoretical description and experimental research of main principles of the system operation. Experimental research of the system model with selected optical-electronic components have confirmed the possibility of metal objects detection at the required distance (0.5 - 2 m) with different values of background illuminance.

Draper Laboratory small autonomous aerial vehicle

NASA Astrophysics Data System (ADS)

DeBitetto, Paul A.; Johnson, Eric N.; Bosse, Michael C.; Trott, Christian A.

1997-06-01

The Charles Stark Draper Laboratory, Inc. and students from Massachusetts Institute of Technology and Boston University have cooperated to develop an autonomous aerial vehicle that won the 1996 International Aerial Robotics Competition. This paper describes the approach, system architecture and subsystem designs for the entry. This entry represents a combination of many technology areas: navigation, guidance, control, vision processing, human factors, packaging, power, real-time software, and others. The aerial vehicle, an autonomous helicopter, performs navigation and control functions using multiple sensors: differential GPS, inertial measurement unit, sonar altimeter, and a flux compass. The aerial transmits video imagery to the ground. A ground based vision processor converts the image data into target position and classification estimates. The system was designed, built, and flown in less than one year and has provided many lessons about autonomous vehicle systems, several of which are discussed. In an appendix, our current research in augmenting the navigation system with vision- based estimates is presented.

Quadrocopter Control Design and Flight Operation

NASA Technical Reports Server (NTRS)

Karwoski, Katherine

2011-01-01

A limiting factor in control system design and analysis for spacecraft is the inability to physically test new algorithms quickly and cheaply. Test flights of space vehicles are costly and take much preparation. As such, EV41 recently acquired a small research quadrocopter that has the ability to be a test bed for new control systems. This project focused on learning how to operate, fly, and maintain the quadrocopter, as well as developing and testing protocols for its use. In parallel to this effort, developing a model in Simulink facilitated the design and analysis of simple control systems for the quadrocopter. Software provided by the manufacturer enabled testing of the Simulink control system on the vehicle.

Stochastic optimal preview control of a vehicle suspension

NASA Astrophysics Data System (ADS)

Marzbanrad, Javad; Ahmadi, Goodarz; Zohoor, Hassan; Hojjat, Yousef

2004-08-01

Stochastic optimal control of a vehicle suspension on a random road is studied. The road roughness height is modelled as a filtered white noise stochastic process and a four-degree-of-freedom half-car model is used in the analysis. It is assumed that a sensor is mounted in the front bumper that measures the road irregularity at some distances in the front of the vehicle. Two other sensors also measure relative velocities of the vehicle body with respect to the unsprung masses in the vehicle suspension spaces. All measurements are assumed to be conducted in a noisy environment. The state variables of the vehicle system are estimated using a method similar to the Kalman filter. The suspension system is optimized by minimizing the performance index containing the mean-square values of body accelerations (including effects of heave and pitch), tire deflections and front and rear suspension rattle spaces. The effect of delay between front and rear wheels is included in the analysis. For stochastic active control with and without preview, the suspension performance and the power demand are evaluated and compared with those of the passive system. The results show that the inclusion of time delay between the front and rear axles and the preview information measured by the sensor mounted on the vehicle improves all aspects of the suspension performance, while reducing the energy consumption.

Ares I-X Flight Test Vehicle Modal Test

NASA Technical Reports Server (NTRS)

Buehrle, Ralph D.; Templeton, Justin D.; Reaves, Mercedes C.; Horta, Lucas G.; Gaspar, James L.; Bartolotta, Paul A.; Parks, Russel A.; Lazor, Daniel R.

2010-01-01

The first test flight of NASA's Ares I crew launch vehicle, called Ares I-X, was launched on October 28, 2009. Ares I-X used a 4-segment reusable solid rocket booster from the Space Shuttle heritage with mass simulators for the 5th segment, upper stage, crew module and launch abort system. Flight test data will provide important information on ascent loads, vehicle control, separation, and first stage reentry dynamics. As part of hardware verification, a series of modal tests were designed to verify the dynamic finite element model (FEM) used in loads assessments and flight control evaluations. Based on flight control system studies, the critical modes were the first three free-free bending mode pairs. Since a test of the free-free vehicle was not practical within project constraints, modal tests for several configurations during vehicle stacking were defined to calibrate the FEM. Test configurations included two partial stacks and the full Ares I-X flight test vehicle on the Mobile Launcher Platform. This report describes the test requirements, constraints, pre-test analysis, test execution and results for the Ares I-X flight test vehicle modal test on the Mobile Launcher Platform. Initial comparisons between pre-test predictions and test data are also presented.

Instability of cooperative adaptive cruise control traffic flow: A macroscopic approach

NASA Astrophysics Data System (ADS)

Ngoduy, D.

2013-10-01

This paper proposes a macroscopic model to describe the operations of cooperative adaptive cruise control (CACC) traffic flow, which is an extension of adaptive cruise control (ACC) traffic flow. In CACC traffic flow a vehicle can exchange information with many preceding vehicles through wireless communication. Due to such communication the CACC vehicle can follow its leader at a closer distance than the ACC vehicle. The stability diagrams are constructed from the developed model based on the linear and nonlinear stability method for a certain model parameter set. It is found analytically that CACC vehicles enhance the stabilization of traffic flow with respect to both small and large perturbations compared to ACC vehicles. Numerical simulation is carried out to support our analytical findings. Based on the nonlinear stability analysis, we will show analytically and numerically that the CACC system better improves the dynamic equilibrium capacity over the ACC system. We have argued that in parallel to microscopic models for CACC traffic flow, the newly developed macroscopic will provide a complete insight into the dynamics of intelligent traffic flow.

Baseline tests of the C. H. Waterman DAF electric passenger vehicle

NASA Technical Reports Server (NTRS)

Sargent, N. B.; Maslowski, E. A.; Soltis, R. F.; Schuh, R. M.

1977-01-01

An electric vehicle was tested as part of an Energy Research Development Administration (ERDA) project to characterize the state-of-the-art of electric vehicles. The Waterman vehicle performance test results are presented in this report. The vehicle is a converted four-passenger DAF 46 sedan. It is powered by sixteen 6-volt traction batteries through a three-step contactor controller actuated by a foot throttle to change the voltage applied to the 6.7 kW motor. The braking system is a conventional hydraulic braking system.

Experiments in teleoperator and autonomous control of space robotic vehicles

NASA Technical Reports Server (NTRS)

Alexander, Harold L.

1991-01-01

A program of research embracing teleoperator and automatic navigational control of freely flying satellite robots is presented. Current research goals include: (1) developing visual operator interfaces for improved vehicle teleoperation; (2) determining the effects of different visual interface system designs on operator performance; and (3) achieving autonomous vision-based vehicle navigation and control. This research program combines virtual-environment teleoperation studies and neutral-buoyancy experiments using a space-robot simulator vehicle currently under development. Visual-interface design options under investigation include monoscopic versus stereoscopic displays and cameras, helmet-mounted versus panel-mounted display monitors, head-tracking versus fixed or manually steerable remote cameras, and the provision of vehicle-fixed visual cues, or markers, in the remote scene for improved sensing of vehicle position, orientation, and motion.

Ride performance of a high speed rail vehicle using controlled semi active suspension system

NASA Astrophysics Data System (ADS)

Sharma, Sunil Kumar; Kumar, Anil

2017-05-01

The rail-wheel interaction in a rail vehicle running at high speed results in large amplitude vibration of carbody that deteriorates the ride comfort of travellers. The role of suspension system is crucial to provide an acceptable level of ride performance. In this context, an existing rail vehicle is modelled in vertical, pitch and roll motions of carbody and bogies. Additionally, nonlinear stiffness and damping parameters of passive suspension system are defined based on experimental data. In the secondary vertical suspension system, a magneto-rheological (MR) damper is included to improve the ride quality and comfort. The parameters of MR damper depend on the current, amplitude and frequency of excitations. At different running speeds, three semi-active suspension strategies with MR damper are analysed for periodic track irregularity and the resulting performance indices are juxtaposed with the nonlinear passive suspension system. The disturbance rejection and force tracking damper controller algorithms are applied to control the desired force of MR damper. This study reveals that the vertical vibrations of a vehicle can be reduced significantly by using the proposed semi-active suspension strategies. Moreover, it naturally results in improved ride quality and passenger’s comfort in comparison to the existing passive system.

Simulation of Liquid Injection Thrust Vector Control for Mars Ascent Vehicle

NASA Technical Reports Server (NTRS)

Gudenkauf, Jared

2017-01-01

The Jet Propulsion Laboratory is currently in the initial design phase for a potential Mars Ascent Vehicle; which will be landed on Mars, stay on the surface for period of time, collect samples from the Mars 2020 rover, and then lift these samples into orbit around Mars. The engineers at JPL have down selected to a hybrid wax-based fuel rocket using a liquid oxidizer based on nitrogen tetroxide, or a Mixed Oxide of Nitrogen. To lower the gross lift-off mass of the vehicle the thrust vector control system will use liquid injection of the oxidizer to deflect the thrust of the main nozzle instead of using a gimbaled nozzle. The disadvantage of going with the liquid injection system is the low technology readiness level with a hybrid rocket. Presented in this paper is an effort to simulate the Mars Ascent Vehicle hybrid rocket nozzle and liquid injection thrust vector control system using the computational fluid dynamic flow solver Loci/Chem. This effort also includes determining the sensitivity of the thrust vector control system to a number of different design variables for the injection ports; including axial location, number of adjacent ports, injection angle, and distance between the ports.

Power systems and requirements for the integration of smart structures into aircraft

NASA Astrophysics Data System (ADS)

Lockyer, Allen J.; Martin, Christopher A.; Lindner, Douglas K.; Walia, Paramjit S.

2002-07-01

Electrical power distribution for recently developed smart actuators becomes an important air-vehicle challenge if projected smart actuation benefits are to be met. Among the items under development are variable shape inlets and control surfaces that utilize shape memory alloys (SMA); full span, chord-wise and span-wise contouring trailing control surfaces that use SMA or piezoelectric materials for actuation; and other strain-based actuators for buffet load alleviation, flutter suppression and flow control. At first glance, such technologies afford overall vehicle performance improvement, however, integration system impacts have yet to be determined or quantified. Power systems to support smart structures initiatives are the focus of the current paper. The paper has been organized into five main topics for further discussion: (1) air-vehicle power system architectures - standard and advanced distribution concepts for actuators, (2) smart wing actuator power requirements and results - highlighting wind tunnel power measurements from shape memory alloy and piezoelectric ultrasonic motor actuated control surfaces and different dynamic pressure and angle of attack; (3) vehicle electromagnetic effects (EME) issues, (4) power supply design considerations for smart actuators - featuring the aircraft power and actuator interface, and (5) summary and conclusions.

Morgantown Personal Rapid Transit Longitudinal Control System Design Summary

DOT National Transportation Integrated Search

1975-12-01

Experience with the longitudinal control system used on each vehicle in the Morgantown Personal Rapid Transit System has shown that nonlinearities and variations in control system parameters can significantly affect performance if such characteristic...

In-Flight Suppression of a De-Stabilized F/A-18 Structural Mode Using the Space Launch System Adaptive Augmenting Control System

NASA Technical Reports Server (NTRS)

Wall, John; VanZwieten, Tannen; Giiligan Eric; Miller, Chris; Hanson, Curtis; Orr, Jeb

2015-01-01

Adaptive Augmenting Control (AAC) has been developed for NASA's Space Launch System (SLS) family of launch vehicles and implemented as a baseline part of its flight control system (FCS). To raise the technical readiness level of the SLS AAC algorithm, the Launch Vehicle Adaptive Control (LVAC) flight test program was conducted in which the SLS FCS prototype software was employed to control the pitch axis of Dryden's specially outfitted F/A-18, the Full Scale Advanced Systems Test Bed (FAST). This presentation focuses on a set of special test cases which demonstrate the successful mitigation of the unstable coupling of an F/A-18 airframe structural mode with the SLS FCS.

Prescription and over-the-counter medications tool kit.

DOT National Transportation Integrated Search

2011-04-01

Automatic vehicle location (AVL) is a computer-based vehicle tracking system. For transit, the actual real-time position of each vehicle is measured and its location is relayed to a control center. Actual position determination and relay techniques v...

STRIPE: Remote Driving Using Limited Image Data

NASA Technical Reports Server (NTRS)

Kay, Jennifer S.

1997-01-01

Driving a vehicle, either directly or remotely, is an inherently visual task. When heavy fog limits visibility, we reduce our car's speed to a slow crawl, even along very familiar roads. In teleoperation systems, an operator's view is limited to images provided by one or more cameras mounted on the remote vehicle. Traditional methods of vehicle teleoperation require that a real time stream of images is transmitted from the vehicle camera to the operator control station, and the operator steers the vehicle accordingly. For this type of teleoperation, the transmission link between the vehicle and operator workstation must be very high bandwidth (because of the high volume of images required) and very low latency (because delayed images can cause operators to steer incorrectly). In many situations, such a high-bandwidth, low-latency communication link is unavailable or even technically impossible to provide. Supervised TeleRobotics using Incremental Polyhedral Earth geometry, or STRIPE, is a teleoperation system for a robot vehicle that allows a human operator to accurately control the remote vehicle across very low bandwidth communication links, and communication links with large delays. In STRIPE, a single image from a camera mounted on the vehicle is transmitted to the operator workstation. The operator uses a mouse to pick a series of 'waypoints' in the image that define a path that the vehicle should follow. These 2D waypoints are then transmitted back to the vehicle, where they are used to compute the appropriate steering commands while the next image is being transmitted. STRIPE requires no advance knowledge of the terrain to be traversed, and can be used by novice operators with only minimal training. STRIPE is a unique combination of computer and human control. The computer must determine the 3D world path designated by the 2D waypoints and then accurately control the vehicle over rugged terrain. The human issues involve accurate path selection, and the prevention of disorientation, a common problem across all types of teleoperation systems. STRIPE is the only semi-autonomous teleoperation system that can accurately follow paths designated in monocular images on varying terrain. The thesis describes the STRIPE algorithm for tracking points using the incremental geometry model, insight into the design and redesign of the interface, an analysis of the effects of potential errors, details of the user studies, and hints on how to improve both the algorithm and interface for future designs.

Explosion proof vehicle for tank inspection

DOEpatents

Zollinger, William T [Idaho Falls, ID; Klingler, Kerry M [Idaho Falls, ID; Bauer, Scott G [Idaho Falls, ID

2012-02-28

An Explosion Proof Vehicle (EPV) having an interior substantially filled with an inert fluid creating an interior pressure greater than the exterior pressure. One or more flexible tubes provide the inert fluid and one or more electrical conductors from a control system to the vehicle. The vehicle is preferably used in subsurface tank inspection, whereby the vehicle is submerged in a volatile fluid.

Aerodynamic vibrations of a maglev vehicle running on flexible guideways under oncoming wind actions

NASA Astrophysics Data System (ADS)

Yau, J. D.

2010-05-01

This paper intends to present a computational framework of aerodynamic analysis for a maglev (magnetically levitated) vehicle traveling over flexible guideways under oncoming wind loads. The guideway unit is simulated as a series of simple beams with identical span and the maglev vehicle as a rigid car body supported by levitation forces. To carry out the interaction dynamics of maglev vehicle/guideway system, this study adopts an onboard PID (proportional-integral-derivative) controller based on Ziegler-Nicholas (Z-N) method to control the levitation forces. Interaction of wind with high-speed train is a complicated situation arising from unsteady airflow around the train. In this study, the oncoming wind loads acting on the running maglev vehicle are generated in temporal/spatial domain using digital simulation techniques that can account for the moving effect of vehicle's speed and the spatial correlation of stochastic airflow velocity field. Considering the motion-dependent nature of levitation forces and the non-conservative characteristics of turbulent airflows, an iterative approach is used to compute the interaction response of the maglev vehicle/guideway coupling system under wind actions. For the purpose of numerical simulation, this paper employs Galerkin's method to convert the governing equations containing a maglev vehicle into a set of differential equations in generalized systems, and then solve the two sets of differential equations using an iterative approach with the Newmark method. From the present investigation, the aerodynamic forces may result in a significant amplification on acceleration amplitude of the running maglev vehicle at higher speeds. For this problem, a PID+LQR (linear quadratic regulator) controller is proposed to reduce the vehicle's acceleration response for the ride comfort of passengers.