Power management strategies have impacts on fuel economy, greenhouse gasses (GHG) emission, as well as effects on the durability of power-train components. This is why different off-line and real-time optimal control approaches are being developed. However, real-time control seems to be more attractive than off-line control because it can be directly implemented for managing power and energy flow inside an actual vehicle. One interesting illustration of these power management strategies is the model predictive control (MPC) based algorithm. Inside an MPC, a cost function is optimized while system constraints are validated in real time. The MPC algorithm relies on dynamic models of the vehicle and the battery. The complexity and accuracy of the battery model are usually neglected to benefit the development of new cost functions or better MPC search algorithms. In fact, the literature does not deal with the impact of the battery model on MPC. This is why this Ph.D. dissertation evaluates the impact of different battery models of a plug-in hybrid electric vehicle (PHEV) through a sensitivity analysis to reach optimal performance for an MPC. The required fidelity of the battery might depend on different factors:the prediction horizon also called look-ahead step time the vehicle states update time the vehicle model step time the objective function The results of simulations show that higher fidelity model improves the capability to predict accurately the battery aging. As the battery pack is currently one of the most expensive components of an electric vehicle and lithium is a limited natural resource, being able to manage precisely the battery aging is a crucial point for both the automotive company and the battery manufacturer. Another important aspect highlighted by this PhD dissertation is that higher battery fidelity model reduces the possibility to violate the SoC constraint, which is greatly desirable. In fact, this constraint is usually defined by battery manufacturers for safety and battery aging management reasons. Last but not least, it has been proven that the impact of the battery modeling for the MPC controller depends on what the objective function aims to optimize. For instance, battery modeling have limited impact if the objective function takes into account the fuel consumption but far more for if it considers the battery degradation.

This thesis revisits the concept of ground vehicles active suspensions system from a power harvesting perspective. I introduce the two dimensions of freedom quarter vehicle model for calculations of vehicle dynamics as well as a road profile model based on PSD classifications based on International Organization for Standardization’s technical document, ISO 8608 “Mechanical vibration -- Road surface profiles -- Reporting of measured data”. I report the power harvesting potential of the conventional viscous fluid dampers for an extensive range of road profile roughness indices and vehicle speeds. I explain the problem of additional power harvesting from the regenerative electric damper operating in the "dead-zone" and introduce Pulse Width Modulated (PWM) DC-DC converter as a solution. I analyze the efficiency of this system by circuit level simulations in PSpice. / Graduate / 0540 / 0544 / farhang@uvic.ca

A cost effective method of rollover mitigation in vehicles is presented. The method was designed so that some of the system states were measured by sensors that are already available on most vehicles and so that other states could be measured with relatively low cost sensors. Also, the control algorithm was designed to be implementable using a series of look up tables and computationally efficient equations to enable the use of low-cost controller platforms. These look up tables and equations can be modified to change the conservativeness of the method as well as to configure the method for use on almost any 4-wheeled vehicle. Lastly, the proposed mitigation technique was designed to be directly implementable with existing vehicle hardware. To develop this method, a vehicle model was created using several advanced computer packages including SolidWorks 2008™, MATLAB ®, Simulink®, and SimMechanics™. Once created, the model was outfitted with virtual sensors that represent data from realistic sensor types. A detection algorithm was designed around the hypothesis of a stability boundary utilizing the sensor data to detect impending rollover. Finally, a mitigation algorithm was designed to limit throttle and braking upon impending rollover. This algorithm was defined using the basic principles of end-stop control, but was adapted to work appropriately with this scenario. To conclude this research, two simple maneuvers were used to verify the effectiveness of this system to mitigate vehicle rollover. This research was government sponsored and in some instances utilized secured data. Due to the nature of this material, some data has been omitted from this document. / Master of Science

Automotive and Tire companies spend extensive amounts of time and money to tune their products through prototype testing at dedicated test facilities. This is mainly due to the limitations in the simulation capabilities that exist today. With greater competence in simulation, comes more control over designs in the initial stages, which in turn lowers the demand on the expensive stage of tuning. The work presented, aims at taking today's simulation capabilities a step forward by integrating models that are best developed in different software interfaces. An in-plane rigid ring model is used to understand the transient response of tires to various high frequency events such as Anti-Lock Braking and short wavelength road disturbances. A rule based ABS model performs the high frequency braking operation. The tire and ABS models have been created in the Matlab-Simulink environment. The vehicle model has been developed in CarSim. The models developed in Simulink have been integrated with the vehicle model in CarSim, in the form of a design tool that can be used by tire as well as vehicle designers for further tuning of the vehicle functional performances as they relate to in-line braking scenarios. Outdoor validation tests were performed to obtain data from a vehicle that was measured on a suspension parameter measuring machine (SPMM) in order to complement this design tool. The results of the objective tests performed have been discussed and the correlations and variations with respect to the simulation results have been analyzed. / Master of Science

The goal of this thesis is to develop an active front steering(AFS) control system which can apply to ordinary vehicle. This AFS control system stabilizes the driving vehicle and reduces the possibility of rollover. This thesis uses magic formula tire model and constructs a vehicle model with eight degrees of freedom to study the dynamic behavior of the real driving vehicle. This thesis constructs a vehicle model with three degrees of freedom and eight degree of freedom, compare with two vehicle model, we adopt eight vehicle model in this thesis. The advantages of PI controller are low cost and easy to modify, so this thesis adopts PI controller as the control strategy. This study uses four simulate methods and compares the simulated results to develop the AFS control system which can apply to ordinary vehicle.

O presente trabalho avalia a otimização de parâmetros concentrados de suspensão em veículos e considera a importância deste processo para minimizar a aceleração vertical rms transmitida para garantir conforto e segurança ao motorista. Dessa forma, o trabalho objetiva desenvolver uma modelagem capaz de representar o veículo completo para então otimizar os parâmetros de rigidez e amortecimento no domínio da frequência e identificar, em torno do ponto ótimo, quais desses parâmetros mais influenciam nessa minimização. Para atingir esses objetivos, dois modelos veiculares (com dois e oito graus de liberdade respectivamente) são propostos conforme as orientações das normas BS 6841 (1987), ISO 8608 (1995) e ISO 2631 (1997). Os modelos são analisados linearmente e otimizados por um algoritmo heurístico de enxame de partículas. Finalmente, os resultados de rigidez e amortecimento da suspensão são obtidos e reduzem em até 35,3% a aceleração vertical rms transmitida ao motorista. Por meio de uma análise de sensibilidade, as variáveis de projeto que mais contribuem para essa redução são identificadas. / The present work evaluates the optimization of lumped parameters of suspension on vehicles and considers the importance of this process to minimize the rms vertical acceleration transmitted to ensure comfort and safety to the driver. Thus, this work aims to develop a model able to represent the whole vehicle and, then, optimize the parameters of stiffness and damping in the frequency domain and identify, around the optimal point, those parameters which most influence in this minimization. To achieve these goals, two vehicle models (with two and eight degrees of freedom respectively) are proposed according to the guidelines of the standards BS 6841 (1987), ISO 8608 (1995) and ISO 2631 (1997). The models are linearly analyzed and optimized by a heuristic algorithm of particle swarm. Finally, the results of stiffness and damping of suspension are obtained and reduces up to 35,3% of rms vertical acceleration transmitted to the driver. Through a sensitivity analysis, the design variables that most contribute to this reduction are identified.

O presente trabalho tem por finalidade discutir a avaliação da exposição ocupacional às vibrações de corpo inteiro segundo os critérios estabelecidos pelo Anexo 1 da Norma Regulamentadora 09, pela Diretiva Europeia 2002/44/EC e pela ACGIH, avaliando as diferenças entre os indicadores envolvidos e a sua conexão com os estudos recentes ligados ao tema. Para tal, o modelo dinâmico que representa um ônibus é submetido a diferentes perfis de estrada, utilizando os parâmetros de densidade espectral de potência apresentados na ISO 8608 (1995). Os indicadores da exposição (e os espectros de frequência, no caso da ACGIH) são avaliados, de forma a verificar a aceitabilidade da exposição. O modelo dinâmico utilizado para representar o ônibus é também analisado, considerando diferentes situações de exposição. Além disso, resultados de trabalhos experimentais são avaliados segundo os diferentes critérios legais, a fim de permitir a análise do comportamento dos indicadores em um maior número de situações de exposição. Os resultados mostram a importância da realização da avaliação de acordo com os requisitos legais e a necessidade de utilizar o previsto na Norma Regulamentadora 09 durante a etapa de projeto de novos equipamentos, de forma que seus usuários sejam expostos a menores níveis de vibração. Além dos riscos à saúde, a exposição ocupacional a vibrações acima dos limites legais enseja o pagamento de adicional de insalubridade, com consequências financeiras consideráveis para as empresas que utilizam máquinas e equipamentos inadequados. / This study aims to discuss the assessment of occupational exposure to whole-body vibration according to the criteria established by Annex 1 of Regulatory Standard 09, European Directive 2002/44/EC, and ACGIH, evaluating the differences between the measures and their connection with recent studies related to the topic. To this end, the dynamic model of a bus is subjected to different road profiles, using the Power Spectral Density parameters presented in ISO 8608 (1995). Exposure indicators (and the frequency spectra in the case of ACGIH) are evaluated to verify the acceptability of exposure. The dynamic model of the bus is also analyzed considering different exposure situations. Besides, results of experimental work are evaluated according to different legal criteria, to analyze the behavior of the indicators in a greater number of situations. The results show the importance of assessment made in compliance with the legal requirements, and the need to apply the provisions of the Regulatory Standard 09 during the design stage of new equipment, so that their users are exposed to lower levels of vibration. In addition to the health risks, the workers exposure to vibration levels above the exposure limit values entails the payment of insalubrity premium, with considerable financial consequences for companies using that equipment and vehicles.

O presente trabalho avalia a otimização de parâmetros concentrados de suspensão em veículos e considera a importância deste processo para minimizar a aceleração vertical rms transmitida para garantir conforto e segurança ao motorista. Dessa forma, o trabalho objetiva desenvolver uma modelagem capaz de representar o veículo completo para então otimizar os parâmetros de rigidez e amortecimento no domínio da frequência e identificar, em torno do ponto ótimo, quais desses parâmetros mais influenciam nessa minimização. Para atingir esses objetivos, dois modelos veiculares (com dois e oito graus de liberdade respectivamente) são propostos conforme as orientações das normas BS 6841 (1987), ISO 8608 (1995) e ISO 2631 (1997). Os modelos são analisados linearmente e otimizados por um algoritmo heurístico de enxame de partículas. Finalmente, os resultados de rigidez e amortecimento da suspensão são obtidos e reduzem em até 35,3% a aceleração vertical rms transmitida ao motorista. Por meio de uma análise de sensibilidade, as variáveis de projeto que mais contribuem para essa redução são identificadas. / The present work evaluates the optimization of lumped parameters of suspension on vehicles and considers the importance of this process to minimize the rms vertical acceleration transmitted to ensure comfort and safety to the driver. Thus, this work aims to develop a model able to represent the whole vehicle and, then, optimize the parameters of stiffness and damping in the frequency domain and identify, around the optimal point, those parameters which most influence in this minimization. To achieve these goals, two vehicle models (with two and eight degrees of freedom respectively) are proposed according to the guidelines of the standards BS 6841 (1987), ISO 8608 (1995) and ISO 2631 (1997). The models are linearly analyzed and optimized by a heuristic algorithm of particle swarm. Finally, the results of stiffness and damping of suspension are obtained and reduces up to 35,3% of rms vertical acceleration transmitted to the driver. Through a sensitivity analysis, the design variables that most contribute to this reduction are identified.

O presente trabalho tem por finalidade discutir a avaliação da exposição ocupacional às vibrações de corpo inteiro segundo os critérios estabelecidos pelo Anexo 1 da Norma Regulamentadora 09, pela Diretiva Europeia 2002/44/EC e pela ACGIH, avaliando as diferenças entre os indicadores envolvidos e a sua conexão com os estudos recentes ligados ao tema. Para tal, o modelo dinâmico que representa um ônibus é submetido a diferentes perfis de estrada, utilizando os parâmetros de densidade espectral de potência apresentados na ISO 8608 (1995). Os indicadores da exposição (e os espectros de frequência, no caso da ACGIH) são avaliados, de forma a verificar a aceitabilidade da exposição. O modelo dinâmico utilizado para representar o ônibus é também analisado, considerando diferentes situações de exposição. Além disso, resultados de trabalhos experimentais são avaliados segundo os diferentes critérios legais, a fim de permitir a análise do comportamento dos indicadores em um maior número de situações de exposição. Os resultados mostram a importância da realização da avaliação de acordo com os requisitos legais e a necessidade de utilizar o previsto na Norma Regulamentadora 09 durante a etapa de projeto de novos equipamentos, de forma que seus usuários sejam expostos a menores níveis de vibração. Além dos riscos à saúde, a exposição ocupacional a vibrações acima dos limites legais enseja o pagamento de adicional de insalubridade, com consequências financeiras consideráveis para as empresas que utilizam máquinas e equipamentos inadequados. / This study aims to discuss the assessment of occupational exposure to whole-body vibration according to the criteria established by Annex 1 of Regulatory Standard 09, European Directive 2002/44/EC, and ACGIH, evaluating the differences between the measures and their connection with recent studies related to the topic. To this end, the dynamic model of a bus is subjected to different road profiles, using the Power Spectral Density parameters presented in ISO 8608 (1995). Exposure indicators (and the frequency spectra in the case of ACGIH) are evaluated to verify the acceptability of exposure. The dynamic model of the bus is also analyzed considering different exposure situations. Besides, results of experimental work are evaluated according to different legal criteria, to analyze the behavior of the indicators in a greater number of situations. The results show the importance of assessment made in compliance with the legal requirements, and the need to apply the provisions of the Regulatory Standard 09 during the design stage of new equipment, so that their users are exposed to lower levels of vibration. In addition to the health risks, the workers exposure to vibration levels above the exposure limit values entails the payment of insalubrity premium, with considerable financial consequences for companies using that equipment and vehicles.

O presente trabalho tem por finalidade discutir a avaliação da exposição ocupacional às vibrações de corpo inteiro segundo os critérios estabelecidos pelo Anexo 1 da Norma Regulamentadora 09, pela Diretiva Europeia 2002/44/EC e pela ACGIH, avaliando as diferenças entre os indicadores envolvidos e a sua conexão com os estudos recentes ligados ao tema. Para tal, o modelo dinâmico que representa um ônibus é submetido a diferentes perfis de estrada, utilizando os parâmetros de densidade espectral de potência apresentados na ISO 8608 (1995). Os indicadores da exposição (e os espectros de frequência, no caso da ACGIH) são avaliados, de forma a verificar a aceitabilidade da exposição. O modelo dinâmico utilizado para representar o ônibus é também analisado, considerando diferentes situações de exposição. Além disso, resultados de trabalhos experimentais são avaliados segundo os diferentes critérios legais, a fim de permitir a análise do comportamento dos indicadores em um maior número de situações de exposição. Os resultados mostram a importância da realização da avaliação de acordo com os requisitos legais e a necessidade de utilizar o previsto na Norma Regulamentadora 09 durante a etapa de projeto de novos equipamentos, de forma que seus usuários sejam expostos a menores níveis de vibração. Além dos riscos à saúde, a exposição ocupacional a vibrações acima dos limites legais enseja o pagamento de adicional de insalubridade, com consequências financeiras consideráveis para as empresas que utilizam máquinas e equipamentos inadequados. / This study aims to discuss the assessment of occupational exposure to whole-body vibration according to the criteria established by Annex 1 of Regulatory Standard 09, European Directive 2002/44/EC, and ACGIH, evaluating the differences between the measures and their connection with recent studies related to the topic. To this end, the dynamic model of a bus is subjected to different road profiles, using the Power Spectral Density parameters presented in ISO 8608 (1995). Exposure indicators (and the frequency spectra in the case of ACGIH) are evaluated to verify the acceptability of exposure. The dynamic model of the bus is also analyzed considering different exposure situations. Besides, results of experimental work are evaluated according to different legal criteria, to analyze the behavior of the indicators in a greater number of situations. The results show the importance of assessment made in compliance with the legal requirements, and the need to apply the provisions of the Regulatory Standard 09 during the design stage of new equipment, so that their users are exposed to lower levels of vibration. In addition to the health risks, the workers exposure to vibration levels above the exposure limit values entails the payment of insalubrity premium, with considerable financial consequences for companies using that equipment and vehicles.