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.

This thesis deals with simulation vehicle models for lateral control. It surveys step by step to models of tire, truck and control. At the end are showed influences of model parameters to vehicles dynamics.

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This Master's thesis presents a method for on-line estimation of vehicle mass and road grade using Kalman filter. Many control strategies aiming for better fuel economy, drivability and safety in today's vehicles rely on precise vehicle operating information. In this context, vehicle mass and road grade are crucial parameters. The method is based on an extended Kalman filter (EKF) and a longitudinal vehicle model. The main advantage of this method is its applicability on drivelines with continuous power output during gear shifts and cost effectiveness compared to hardware solutions. The performance has been tested on both simulated data and on real measurement data, collected with a truck on road. Two estimators were developed; one estimates both vehicle mass and road grade and the other estimates only vehicle mass using an inclination sensor as an additional measurement. Tests of the former estimator demonstrate that a reliable mass estimate with less than 5 % error is often achievable within 5 minutes of driving. Furthermore, the root mean square error of the grade estimate is often within 0.5°. Tests of the latter estimator show that this is more accurate and robust than the former estimator with a mass error often within 2 %. A sensitivity analysis shows that the former estimator is fairly robust towards minor modelling errors. Also, an observability analysis shows under which circumstances simultaneous vehicle mass and road grade is possible.

During the last decade, a novel methodology for wheel wear simulation has been developed in Sweden. The practical objective of this simulation procedure is to provide an integratedengineering tool to support rail vehicle design with respect to wheel wear performance and detailed understanding of wheel-rail interaction. The tool is integrated in a vehicle dynamicssimulation environment.The wear calculation is based on a set of dynamic simulations, representing the vehicle, the network, and the operating conditions. The wheel profile evolution is simulated in an iterativeprocess by adding the contribution from each simulation case and updating the profile geometry.The method is being validated against measurements by selected pilot applications. To strengthen the confidence in simulation results the scope of application should be as wide aspossible in terms of vehicle classes. The purpose of this thesis work has been to try to extend the scope of validation of this method into the light rail area, simulating the light rail vehicleA32 operating in Stockholm commuter service on the line Tvärbanan.An exhaustive study of the wear theory and previous work on wear prediction has been necessary to understand the wear prediction method proposed by KTH. The dynamicbehaviour of rail vehicles has also been deeply studied in order to understand the factors affecting wear in the wheel-rail contact.The vehicle model has been validated against previous studies of this vehicle. Furthermore new elements have been included in the model in order to better simulate the real conditionsof the vehicle.Numerous tests have been carried out in order to calibrate the wear tool and find the settings which better match the real conditions of the vehicle.Wheel and rail wear as well as profile evolution measurements were available before this work and they are compared with those results obtained from the simulations carried out.The simulated wear at the tread and flange parts of the wheel match quite well the measurements. However, the results are not so good for the middle part, since themeasurements show quite evenly distributed wear along the profile while the results from simulations show higher difference between extremes and middle part. More tests would benecessary to obtain an optimal solution.

New railway lines are continuously being constructed and existing lines are upgraded. Hence, there is a need for research directed towards efficient design of the supporting structures. Increasingly advanced calculation methods can be motivated, especially in projects where huge savings can be obtained from verifying that existing structures can safely support increased axle loads and higher speeds. This thesis treats the dynamic response of bridges under freight and passenger train loads. The main focus is the idealisation of the train load and its implications for the evaluation of the vertical bridge deck acceleration. To ensure the running safety of train traffic at high speeds the European design codes set a limit on the vertical bridge deck acceleration. By considering the train–bridge interaction, that is, to model the train as rigid bodies on suspension units instead of constant moving forces, a reduction in bridge response can be obtained. The amount of reduction in bridge deck acceleration is typically between 5 and 20% for bridges with a span up to 30 m. The reduction can be higher for certain train–bridge systems and can be important also for bridge spans over 30 m. This thesis aims at clarifying for which system parameter combinations the effect of train–bridge interaction is important. To this end, a thorough literature survey has been performed on studies in train–track–bridge dynamics. The governing parameters in 2D train–bridge systems have been further studied through a parameter screening procedure. The two-level factorial methodology was applied to study the effect of parameter variations as well as the joint effect from simultaneous changes in several parameters. The effect of the choice of load model was thus set in relation to the effect of other parameter variations. The results show that resonance can arise from freight train traffic within realistic speed ranges (&lt; 150 km/h). At these resonance peaks, the reduction in bridge response from a train–bridge interaction model can be considerable. From the screening of key parameters it can furthermore be concluded that the amount of reduction obtained with a train–bridge interaction model depends on several system parameters, both for freight and passenger train loads. In line with the European design code’s guidelines for dynamic assessment of bridges under passenger trains an additional amount of damping can be introduced as a simplified way of taking into account the reduction from train–bridge interaction. The amount of additional damping is today given as function of solely the bridge span length, which is a rough simplification. The work presented in this thesis supports the need for a refined definition of the additional damping. / Nya järnvägslinjer byggs kontinuerligt och befintliga linjer uppgraderas. Det finns därför ett behov av forskning inriktad på effektiv design av de bärande konstruktionerna. Alltmer avancerade beräkningsmetoder kan vara motiverade, särskilt i projekt där stora besparingar kan erhållas från att verifiera att befintliga konstruktioner kan bära ökade axellaster och högre hastigheter. Föreliggande avhandling behandlar broars dynamiska respons under belastning av gods- och passagerartåg. Huvudfokus är att studera modelleringsalternativ för tåglasten och vilka konsekvenser de har för utvärderingen av brobanans vertikala acceleration. För att garantera trafiksäkerhet vid höga tåghastigheter definierar de europeiska normerna en maximalt tillåten vertikal acceleration i brobanan. Genom att beakta tåg-bro-interaktion, där tågkomponenterna modelleras som avfjädrade stela kroppar istället för konstanta punktlaster, kan en minskning av brons respons erhållas. Reduktionen av brobanans acceleration är typiskt mellan 5 och 20% för broar med en spännvidd på upp till 30 m. Minskningen kan vara högre för vissa tåg-brosystem och kan vara viktigt också för spännvidder över 30 m. Denna avhandling syftar till att klargöra för vilka kombinationer av tåg-broparametrar effekten av tåg-bro-interaktion är viktig. I detta syfte har en omfattande litteraturstudie genomförts inom området tåg-spår-brodynamik. De styrande parametrarna i 2D tåg-brosystem har studerats vidare i en parameterstudie. Två-nivå faktorförsök har tillämpats för att studera effekten av parametervariationer samt den ytterligare effekten av samtidiga förändringar i flera parametrar. Effekten av valet av lastmodell sattes därmed i relation till effekten av andra parametervariationer. Resultaten visar att resonans kan uppstå från godstrafik inom ett realistiskt hastighetsintervall (&lt; 150 km/h). Vid dessa resonanstoppar kan en betydande minskning av broresponsen erhållas med en tåg-bro-interaktionsmodell. Från studien av nyckelparametrar kan man vidare dra slutsatsen att reduktionen som erhålls med en tåg-bro-interaktionsmodell beror på flera systemparametrar, både för gods- och passargerartåg. Enligt de europeiska normernas rekommendationer för dynamisk kontroll av broar för passagerartrafik kan en ökad brodämpning introduceras som ett förenklat sätt att ta hänsyn till minskningen från tåg-bro-interaktion. Mängden tilläggsdämpning anges idag som en funktion av enbart brons spännvidd, vilket är en grov förenkling. Det arbete som presenteras i denna avhandling visar på behovet av en förbättrad definition av tilläggsdämpningen. / <p>QC 20140429</p>

In this thesis a Power-Hardware-in-the-Loop (PHiL) test rig is developed forhydro-pneumatic suspension by utilizing the physical suspension unit together with asimulated vehicle model in MATLAB Simulink. Power-Hardware-in-the-Loop is the termfor combining simulation models with power-transmitting hardware components inreal-time. This is useful when a system contains some parts that are complex and somethat are simpler to model. The simple parts of the system can be modelled andsimulated in conjunction with more complex parts consisting of physical objects. Thereason for keeping the items to be tested as physical components is their complexity andunknown characteristics that can be difficult to estimate. By utilizing PHiL, vehiclecomponents can be tested and developed without the need for the actual vehicle, whilekeeping the characteristics that the physical vehicle would bring. The process included development of a real-time enabled vehicle model, evaluation ofcontrol strategies as well as selection of hardware used for a small scale test rig. The project resulted in a functional small scale single wheel test rig. Validationexperiments confirmed that the rig produced results close to expectations. Thecommunication between the the test rig and the simulated model was accurate andshowed the potential for a full scale test rig. It can be concluded that a PHiL test rigcan be a suitable option to full vehicle testing. The vehicle model is fully customisable,so that the suspension units can be tested in various configurations of vehicles.

The Hybrid Electric Vehicle Team (HEVT) of Virginia Tech is participating in the EcoCAR 3 Advanced Vehicle Technology Competition series organized by Argonne National Labs (ANL), and sponsored by General Motors (GM) and the U.S. Department of Energy (DOE). EcoCAR 3 is a 4-year collegiate competition that challenges student with redesigning a 2016 Chevrolet Camaro into a hybrid. The five main goals of EcoCAR 3 are to reduce petroleum energy use (PEU) and green house gas (GHG) emissions while maintaining safety, consumer acceptability, and performance, with an increased focus on cost and innovation. HEVT selected a P3 Plug-in Parallel hybrid electric vehicle (PHEV) to meet design goals and competition requirements. This study presents different stages of the vehicle development process (VDP) followed to integrate the HEVT Camaro. This work documents the control system development process up to Year 2 of EcoCAR 3. The modeling process to select a powertrain is the first stage in this research. Several viable powertrains and the respective vehicle technical specifications (VTS) are evaluated. The P3 parallel configuration with a V8 engine is chosen because it generated the set of VTS that best meet design goals and EcoCAR 3 requirements. The V8 engine also preserves the heritage of the Camaro, which is attractive to the established target market. In addition, E85 is chosen as the fuel for the powertrain because of the increased impact it has on GHG emissions compared to E10 and gasoline. The use of advanced methods and techniques like model based design (MBD), and rapid control prototyping (RCP) allow for faster development of engineering products in industry. Using advanced engineering techniques has a tremendous educational value, and these techniques can assist the development of a functional and safe hybrid control system. HEVT has developed models of the selected hybrid powertrain to test the control code developed in software. The strategy developed is a Fuzzy controller for torque management in charge depleting (CD) and charge sustaining (CS) modes. The developed strategy proves to be functional without having a negative impact of the energy consumption characteristics of the hybrid powertrain. Bench testing activities with the V8 engine, a low voltage (LV) motor, and high voltage (HV) battery facilitated learning about communication, safety, and functionality requirements for the three components. Finally, the process for parallel development of models and control code is presented as a way to implement more effective team dynamics. / Master of Science

An adaptive autopilot design for an uninhabited surface vehicle Andy SK Annamalai The work described herein concerns the development of an innovative approach to the design of autopilot for uninhabited surface vehicles. In order to fulfil the requirements of autonomous missions, uninhabited surface vehicles must be able to operate with a minimum of external intervention. Existing strategies are limited by their dependence on a fixed model of the vessel. Thus, any change in plant dynamics has a non-trivial, deleterious effect on performance. This thesis presents an approach based on an adaptive model predictive control that is capable of retaining full functionality even in the face of sudden changes in dynamics. In the first part of this work recent developments in the field of uninhabited surface vehicles and trends in marine control are discussed. Historical developments and different strategies for model predictive control as applicable to surface vehicles are also explored. This thesis also presents innovative work done to improve the hardware on existing Springer uninhabited surface vehicle to serve as an effective test and research platform. Advanced controllers such as a model predictive controller are reliant on the accuracy of the model to accomplish the missions successfully. Hence, different techniques to obtain the model of Springer are investigated. Data obtained from experiments at Roadford Reservoir, United Kingdom are utilised to derive a generalised model of Springer by employing an innovative hybrid modelling technique that incorporates the different forward speeds and variable payload on-board the vehicle. Waypoint line of sight guidance provides the reference trajectory essential to complete missions successfully. The performances of traditional autopilots such as proportional integral and derivative controllers when applied to Springer are analysed. Autopilots based on modern controllers such as linear quadratic Gaussian and its innovative variants are integrated with the navigation and guidance systems on-board Springer. The modified linear quadratic Gaussian is obtained by combining various state estimators based on the Interval Kalman filter and the weighted Interval Kalman filter. Change in system dynamics is a challenge faced by uninhabited surface vehicles that result in erroneous autopilot behaviour. To overcome this challenge different adaptive algorithms are analysed and an innovative, adaptive autopilot based on model predictive control is designed. The acronym ‘aMPC’ is coined to refer to adaptive model predictive control that is obtained by combining the advances made to weighted least squares during this research and is used in conjunction with model predictive control. Successful experimentation is undertaken to validate the performance and autonomous mission capabilities of the adaptive autopilot despite change in system dynamics.