Multidisciplinary Co-Simulation of All-Terrain Crane With the Hydro-Pneumatic Suspension and Multi-Bridges Steering System

2010 ◽  
Author(s):  
Gang Qin ◽  
Jinglai Wu ◽  
Yunqing Zhang ◽  
Liping Chen
Keyword(s):  
Control Strategy ◽  
Ride Comfort ◽  
Control Valve ◽  
Steering System ◽  
Damping Characteristics ◽  
Hydraulic Steering ◽  
Pneumatic Suspension ◽  
Stiffness And Damping ◽  
Multi Body ◽  
And Control

Hydro-pneumatic suspension and multi-bridges steering system, which can meet the demands of ride comfort and steering maneuverability of the crane by their excellent nonlinear stiffness and damping characteristics and innovative control technology in their electro-hydraulic rear axle steering system, is used for construction industry vehicles widely. Such systems have great influences on controllability, steering stability, driving comfort and safety of a vehicle. Such a complex system includes mechanical multi-body, hydraulic, and control components which are influenced each other. However, few previous works concerned the coupling effects from multidisciplinary view, in general just single domain detail model are built and studied. This paper presents a detailed 5 axle all-terrain crane with hydro-pneumatic suspension and multi-bridges steering system consisting of the mechanical parts of suspension and steering multi-body model with ADAMS, suspension and steering hydraulic model that contain cylinder, control valve, and hydraulic pipes, etc., and the control strategy are built with AMESim software. A co-simulation is carried out to study the handling and stability of the vehicle affected by the hydro-pneumatic suspension and electro-hydraulic steering system. Some typical handling maneuvers, such as cornering steering releasing test and pylon slalom course of test are carried out by co-simulation to evaluate the control strategy of the steering and hydro-pneumatic suspension performance numerically. Comparisons between measured data and simulation results validate the correctness of the model.

scholarly journals Experimental Study on Antivibration Control of Electrical Power Steering Systems

2014 ◽  
Vol 2014 ◽  
pp. 1-7 ◽  
Author(s):  
Zhaojian Wang ◽  
Hamid Reza Karimi
Keyword(s):  
Control Strategy ◽  
Controller Design ◽  
Electrical Power ◽  
Steering System ◽  
Steering Wheel ◽  
Bench Test ◽  
Power Steering ◽  
Motor Controller ◽  
Hydraulic Steering ◽  
Wheel Vibration

We focus on the antivibration controller design problem for electrical power steering (EPS) systems. The EPS system has significant advantages over the traditional hydraulic steering system. However, the improper motor controller design would lead to the steering wheel vibration. Therefore, it is necessary to investigate the antivibration control strategy. For the implementation study, we also present the motor driver design and the software design which is used to monitor the sensors and the control signal. Based on the investigation on the regular assistant algorithm, we summarize the difficulties and problems encountered by the regular algorithm. After that, in order to improve the performance of antivibration and the human-like steering feeling, we propose a new assistant strategy for the EPS. The experiment results of the bench test illustrate the effectiveness and flexibility of the proposed control strategy. Compared with the regular controller, the proposed antivibration control reduces the vibration of the steering wheel a lot.

Dynamic and Control Strategy of Payload Motion for Deployment System

2012 ◽  
Vol 229-231 ◽  
pp. 2361-2364 ◽  
Author(s):  
Zi Fan Fang ◽  
Bing Fei Xiang ◽  
Qing Song He ◽  
De Xin Wu ◽  
Hua Pan Xiao
Keyword(s):  
Finite Element Method ◽  
Dynamic Model ◽  
Control Strategy ◽  
Wire Rope ◽  
Tension Control ◽  
Analysis Software ◽  
Collaborative Simulation ◽  
Body Dynamics ◽  
Multi Body ◽  
And Control

The dynamic model of wire rope with contact is presented based on finite element method and the flexible multi-body dynamics theory by putting the contact force between the wire rope and drum. The unilateral anti-sway and tension control strategy is put forward, and the dynamic model and collaborative simulation of payload motion for deployment system is modeled by dynamic analysis software RecurDyn and control library Colink. The correctness of the collaborative simulation model and control strategy is validated by analysis and comparison , which lays the foundation for further research on dynamic simulation of virtual prototype in nonlinear and complex mechanical-control system.

Research on Vehicle Ride Comfort Based on Virtual Prototyping Technology

2011 ◽  
Vol 291-294 ◽  
pp. 2360-2363
Author(s):  
De Yang Chen ◽  
Feng Yan Yi
Keyword(s):  
High Performance ◽  
Ride Comfort ◽  
Simulation Analysis ◽  
Steering System ◽  
Front Suspension ◽  
The Road ◽  
Virtual Prototyping Technology ◽  
System Body ◽  
Multi Body ◽  
Body Dynamic

In this paper, based on some kind of Car as the prototype, by using the multi-body dynamic analysis software ADAMS, the author Uses ADAMS／CAR modules establishes front Suspension, Rear Suspension, steering system brake system,body,tires and other models, then assembled into vehicle model, Established B,E-class road model as entering the road for vehicle ride comfort simulation analysis. Vehicle on different road ride comfort simulation, According to international standard ISO2631 and the vehicle for evaluation of ride comfort, the car are proved to be high performance in the ride comfort．

A new coordinated control strategy for tracked vehicle ride comfort

2017 ◽  
Vol 232 (3) ◽  
pp. 330-341 ◽  
Author(s):  
Jianfeng Li ◽  
Amir Khajepour ◽  
Yanjun Huang ◽  
Hong Wang ◽  
Chen Tang ◽  
...  
Keyword(s):  
Control Strategy ◽  
Degrees Of Freedom ◽  
Target Location ◽  
Ride Comfort ◽  
Sliding Mode ◽  
Coordinated Control ◽  
Magnetorheological Damper ◽  
Vertical Acceleration ◽  
Tracked Vehicle ◽  
Multi Body

To improve tracked vehicle ride comfort and minimize weapon's vibration, a coordinated control strategy is developed for tracked vehicles' semi-active suspension systems. A model with eight degrees-of-freedom for a tracked vehicle equipped with magnetorheological dampers is established, and is followed by the formulation of a sliding mode controller. The proposed control algorithm is a localized-based controller that can change its target location in the tracked vehicle to where it is needed most. A co-simulation system model including a six-wheel tracked vehicle multi-body dynamics model, coordinated control strategy, and magnetorheological damper force allocator is developed to analyze the ride performance under bump and random road excitations. The simulation results demonstrate that the proposed strategy is very effective in improving the vehicle's ride performance and is much better than the traditional skyhook controllers. The innovation of this paper can be concluded as the coordinated control strategy can simultaneously improve vertical acceleration and pitch acceleration for the hull, which is of great importance for combat situations.

Control design, simulation and validation of a turbo-machinery auxiliary plant

2016 ◽  
Vol 231 (4) ◽  
pp. 849-863 ◽  
Author(s):  
Roberto Conti ◽  
Pierluca D’Adamio ◽  
Emanuele Galardi ◽  
Enrico Meli ◽  
Daniele Nocciolini ◽  
...  
Keyword(s):  
Real Time ◽  
Control Strategy ◽  
Oil And Gas ◽  
Control Valve ◽  
Oil And Gas Industry ◽  
Lumped Parameter Model ◽  
Normal Operation ◽  
Physical Plant ◽  
Turbo Machinery ◽  
And Control

In the oil and gas industry, the testing of auxiliary lubrication plants represents an important preliminary activity before the whole turbo machinery train (including the auxiliary lubrication plant) can be put in operation. Therefore, the employment of both efficient and accurate plant models becomes mandatory to synthesize satisfactory control strategies both for testing and normal operation purposes. For this reason, this paper focuses on the development of innovative real-time models and control architectures to describe and regulate auxiliary lubrication plants. In particular, according to the Bond-Graph modelling strategy, a novel lumped parameter model of the lube oil unit has been developed to properly optimize the behaviour of this unit if it is controlled. The code has been compiled and uploaded on a commercial real-time platform, employed to control the pressure control valve of the physical plant, for which a new controller has been developed. The comparison between the data obtained from the simulated system and acquired from the physical plant shows good agreement and the good performance and reliability of the proposed model and control strategy. The modelling approach and the control strategy have been developed in collaboration with GE Nuovo Pignone S.p.a. while the experimental data were acquired in a plant located in Ptuj (Slovenia).

Dynamic Modeling and Virtual Test of a New All Terrain Off-Road Vehicle

2011 ◽  
Vol 86 ◽  
pp. 125-128 ◽  
Author(s):  
Shao Bo Lu ◽  
Yi Nong Li ◽  
Yi Liang Dong
Keyword(s):  
Field Test ◽  
Ride Comfort ◽  
Steering System ◽  
Actual Condition ◽  
The Real ◽  
Virtual Test ◽  
Result Show ◽  
Spectrum Density ◽  
Field Test Result ◽  
Multi Body

This paper presents a new correlated methodology for engineers to develop a specific vehicle-Unimog associated with a unique structure of movement transmission. A complicated multi-body dynamic model which includes the front/rear axle suspension with thrust tube and coil springs, the steering system, tire and road exciting model is established based on the virtual reality (VR) technology. The topology and kinematics relation of the whole system are analyzed firstly, then the proper constrain pairs are applied among them to satisfy the amazing flexibility and ride comfort of the real vehicle. To more accurately model the real system, some key parameters are acquired by the way of experiment and prediction, respectively. And a triangle function method which combined the inverse Fourier and discrete random producer is proposed based on the standard PSD (power spectrum density). Finally, the ride performance has been evaluated on the random road by simulation and field test. The results show that the applied constraint of the model is correct and the kinematics relation matches the actual condition well. The consistency trends both in time and frequency domain for virtual and field test result show that the established model is effective.

PROPERTIES OF AN INTERCONNECTED HYDRO-PNEUMATIC SUSPENSION SYSTEM

1995 ◽  
Vol 19 (4) ◽  
pp. 383-396 ◽  
Author(s):  
P.J. Liu ◽  
S. Rakheja ◽  
A.K.W. Ahmed
Keyword(s):  
Dynamic Properties ◽  
The Body ◽  
Ride Quality ◽  
Quality Performance ◽  
Fundamental Properties ◽  
Damping Characteristics ◽  
Load Carrying ◽  
Body Roll ◽  
Pneumatic Suspension ◽  
Stiffness And Damping

The static and dynamic properties of a vehicle suspension comprising hydraulic struts interconnected in the roll plane are investigated. The fundamental properties of the interconnected suspension are investigated and compared to those of the unconnected suspensions with and without the anti-roll bar, in terms of load-carrying capacity, suspension rate, roll stiffness as well as damping characteristics. The anti-roll performance of the interconnected suspension is analyzed for excitations encountered during directional manoeuvres. The ride quality performance is evaluated for excitations occurring at tire-road interface. It is concluded that the interconnected hydro-pneumatic suspension with inherent enhanced roll stiffness and damping characteristics can significantly restrict the body roll motion to achieve improved roll stability of a vehicle.

scholarly journals Sliding Mode Switch Control of Adjustable Hydro-Pneumatic Suspension based on Parallel Adaptive Clonal Selection Algorithm

2020 ◽  
Vol 10 (5) ◽  
pp. 1852
Author(s):  
Chen Zhou ◽  
Xinhui Liu ◽  
Feixiang Xu ◽  
Wei Chen
Keyword(s):  
Control Strategy ◽  
Ride Comfort ◽  
Sliding Mode ◽  
Clonal Selection ◽  
Parameters Optimization ◽  
Driving Safety ◽  
Clonal Selection Algorithm ◽  
Selection Algorithm ◽  
Switch Control ◽  
Pneumatic Suspension

The hydro-pneumatic suspension, as a widely used suspension for heavy vehicles, has been taken seriously by researchers for a long time because it is crucial in terms of handling stability, riding comfort, and driving safety of these vehicles. Most previous studies only discussed the control of ride comfort or vehicle handling stability of the suspension system separately. This article proposes a dynamic switch control strategy which can switch between ride comfort and handling stability controllers under different road surfaces and driving conditions. The load transfer ratio (LTR) is selected as the switch performance index, and it is calculated through a six-degrees-of-freedom (6-DOF) model. The ride comfort and handling stability controller of the hydro-pneumatic suspension are designed based on the sliding mode control theory. The objective functions of parameters optimization of the sliding mode controller (SMC) are obtained by means of analytic hierarchy process (AHP), and then the controller’s parameters are optimized by the parallel adaptive clonal selection algorithm (PACSA). The simulation results based on MATLAB/Simulink show that: (1) the PACSA performs better than a genetic algorithm in terms of the parameters optimization of the SMC; (2) the proposed switch control strategy can simultaneously improve the ride comfort and handling stability under several typical steering maneuvers and various road profiles compared with the conventional SMC-controlled suspension.

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