Preliminary Study on Quantitative Analysis of Steering System Using Hardware-in-the-Loop (HIL) Simulator

Size: px
Start display at page:

Download "Preliminary Study on Quantitative Analysis of Steering System Using Hardware-in-the-Loop (HIL) Simulator"

Transcription

1 TECHNICAL PAPER Preliminary Study on Quantitative Analysis of Steering System Using Hardware-in-the-Loop (HIL) Simulator M. SEGAWA M. HIGASHI One of the objectives in developing simulation methods is to gain the ability to develop steering systems efficiently. Thus, simulation methods have been developed with the objective of providing efficient evaluation phases. For further effi ciency, design accuracy at the planning stage of system development is essential. Thus, it is required to quantify infl uence by mechanical or electrical performance of components on the system performance to distribute the performance subsequently. This study has an objective of qualitatively evaluating the infl uences to refl ect the result on the design of the system performance. This report describes basic research results regarding performance of a developed HIL simulator. Key Words: simulator, electric power steering, system architecture, dynamics 1. Introduction In evaluating steering systems, there still are many aspects such as steering feeling regarding which definite evaluation cannot be made without actual vehicle tests. If more accurate bench testing is available prior to actual vehicle tests, however, it will be instrumental for earlier debugging and faster feedback for development of new steering systems. Though many studies have been carried out in order to improve the accuracy of bench testing with simulation technologies, it is difficult to simulate the entirety of mechanical and electrical characteristics of steering systems. Due to these factors, it becomes difficult for computer simulations generally used for vehicle motion systems to achieve the evaluation accuracy of actual vehicle tests. In this study, the Hardware-in-the-Loop simulator, in which an actual steering system was installed, was developed 1). Electrical and mechanical characteristics, simulation of which is difficult, can be evaluated easily on bench testing using this simulator. Improvement of the steering system development cycle is one of the purposes in this study. It is necessary to optimize the system architecture in the planning and development period. It is well known that the mechanical dynamics of the steering system influence the various characteristics concerning the vehicle including its steering performance. However, the architecture of steering system specifications has not been examined based on the relationship between the dynamics of the steering system and the steering performance of the vehicle. The design criterion of each steering component has not been optimized enough to realize that steering architecture. In this paper, the result of preliminary research on the influence of mechanical dynamics on steering system performance is reported. In that regard, the aim of this study is to construct a simulator for steering evaluation that enables bench testing to satisfy such requirements. This paper presents an outline of this simulator for steering evaluation as well as a comparison between the test results with this simulator and those of vehicle tests. Moreover, this paper describes preliminary studies concerning the advanced HIL simulator to optimize steering system architecture including mechanical dynamics and concerning the integrated simulator for the evaluation of steering systems with vehicle behavior. 2. HIL Simulator The torque that the driver feels when turning the steering wheel is based on the recovery moment of the front tires. This torque is generated in proportion to the sideslip angle of the front tires, and is almost the same as aligning torque. This recovery moment is transmitted to the steering gear rack as force, and drivers can feel it through the steering system. This torque is called "reaction torque" in this paper. Reaction torque is generally simulated as rotation torque applied to the steering wheel 2), but in this study, an actual steering system was installed into the HIL simulator, so the aim was to achieve the torque loaded on the tie rod (rack force). Figure 1 shows the construction of the HIL simulator used in this study. JTEKT Engineering Journal English Edition No. 13E (27) 17

2 Steering wheel angle A/D ECU Engine pulse PC (Vehicle model) Vehicle speed Reaction force D/A Aligning torque, which drivers feel as the reaction torque, is generated owing to the difference between the rotation center of the supporting surface of the tires and the power point of the lateral force of the tires. Rack force loading on the tie rod is defined as the force that is calculated based on the value of aligning torque divided by the length of the knuckle arm. 2F r Ball screw Fig. 1 Structure of HIL simulator Motor In order to load the torque that drivers feel on the steering wheel, aligning torque and rack force are calculated based on the sideslip angle of front tires in real time with a PC into which the vehicle model has been installed. In this simulator, the target value of axial force is given to the AC servomotor, and in the same way, vehicle speed information is sent to the power steering control unit. From these methods, this simulator can generate a rack force comparable to that in the actual vehicle. And the steering control algorithm can be simulated using the information of vehicle speed on this HIL simulator. 3. Analytical Model for HIL Simulator In this study, a vehicle model with a low degree of freedom is applied so as not to complicate PC simulation, because HIL simulator is designed for evaluation of the steering system. Figure 2 shows an equivalent two-wheel model used as the vehicle model 3), 4), which has three degrees of freedom (sideslip angle, yaw angle, and roll angle). The products of inertia concerning the direction of x-axis and z-axis are fixed as. y b r c b z u b f d f x 2F f K u u V C u u l f m g g h s y 4. Model Identification The efficiency of the analytical model described above is examined in this section. The output from the simulation model is compared with the experimental result using an actual vehicle equipped with the same steering system as the HIL simulator. When comparing these results, Bode diagrams of rack force response, yaw rate response and roll angle response against steering wheel angle are used. The rack force of an actual vehicle is the sum of the forces on both tie rods, and is measured with a load cell. Actual vehicle test conditions were as follows: Vehicle speed was maintained at 2 km/h, 4 km/h, 6 km/h, 8 km/h, and 1 km/h on a dry asphalt road, and the steering wheel angle input was a sine wave. Each Bode diagram is obtained by FFT analysis of time-history measurement data. Figure 3 (a) shows a Bode diagram of rack force response against steering wheel angle, and Fig. 3 (b) shows that of yaw rate. From this result, although the phase of rack force and yaw rate is leading, vehicle behavior is reproduced until around the steering wheel turning frequency of 1 Hz. Therefore both simulation of rack force and comparison to actual vehicle testing is carried out at vehicle speeds of 1 km/h and under and at steering wheel turning frequency around 1 Hz. Further accuracy is necessary to evaluate the steering system in the case of rapid steering action, which is a future technical issue to be investigated. l r Roll center In this study, a linear tire model is used. The lateral force is calculated with the equations introducing the dynamic characteristic of the lateral force to the slip angle of tires 5). In this paper, roll steer angle a and a are a assumed to correspond to roll angle, so u are defined as constants. Fig. 2 Vehicle model and a u 18 JTEKT Engineering Journal English Edition No. 13E (27)

3 Gain, N/rad Phase, deg 1 km/h 8 km/h 6 km/h 4 km/h 2 km/h Simulation model Actual vehicle (a) Bode diagram of force on the tie rod response to steering wheel angle Gain, rad/s/rad HIL simulator was compared with the target rack force calculated from the vehicle model installed into the HIL simulator. In this test, vehicle speed was set at 4 km/h, 6 km/h and 1 km/h. The Bode diagram of rack force is shown in Fig. 4, and the Lissajou's figure of rack force against steering wheel angle is shown in Fig. 5. Gain, N/rad Phase, deg 1 km/h 6 km/h 4 km/h Simulation model HIL simulator Fig. 4 Bode diagram of force on the tie rod response to steering wheel angle by simulator Phase, deg (b) Bode diagram of yaw rate response to steering wheel angle Rack force, N 3 4 km/h,.4 Hz Target rack force Actual rack force Fig. 3 Bode diagram of force on the tie rod and yaw rate response to steering wheel angle 5. Simulation of Reaction Torque 5. 1 Reaction Torque Control In order to load the rack force on the tie rod in this HIL simulator, an AC servomotor and ball screw are used as the actuator to generate reaction torque because they are easily controlled and their efficiencies are good. The value of the target rack force, which is determined from the vehicle model, is sent to the AC servomotor. However, a difference between actual rack force and target rack force appears owing to the friction in the transmission system of reaction torque when the target rack force is low. The reaction torque control system has a PI controller to feedback the force to the tie rod so that the friction is eliminated. And it has a feed forward controller in order to improve the characteristic of followup control to the target force. Next the reaction torque actually felt by the driver was studied. The frequency characteristic of the rack force against steering wheel angle measured in the Fig. 5 Lissajou's figure of force on the tie rod with respect to steering wheel angle From these results, at steering wheel turning frequency around 2 Hz, the phase and gain of the rack force on this HIL simulator matches the target rack force. There is no deviation of rack force according to the mechanical or electrical characteristics of this simulator Simulate Steering Feeling In addition to rack force, the steering wheel torque that the driver feels was evaluated. The Lissajou's figure of steering torque against steering wheel angle, which is considered to indicate steering feeling, was applied to evaluate steering torque. Evaluation was carried out by comparison of the result in actual vehicle testing and the result in the HIL simulator testing. In each test, vehicle speed is set at 4 km/h, and the steering angle input is a JTEKT Engineering Journal English Edition No. 13E (27) 19

4 sine wave. Figure 6 shows the test results. From these results, the hysteresis of steering torque around the neutral position of the steering wheel can be simulated by using this HIL simulator. That hysteresis is reported to quantify the on-center feeling 6) which is one element of steering feeling. Moreover, the relationship between steering wheel angle and steering torque was evaluated when the vehicle speed was changed. 6 4 km/h,.4 Hz Actual vehicle HIL simulator Fig. 6 Lissajou's figure of steering torque with respect to steering wheel angle 6. Basic Analysis for Quantitative Evaluation of Steering Feeling It was clarified that this HIL simulator can reproduce steering torque similar to the steering torque in the actual vehicle in the previous section. The influence of the transient characteristic of the rack force on the performance of steering systems was investigated in order to evaluate steering feeling quantitatively. The steering torque on this HIL simulator is compared to the steering torque on a test bench with a spring load that has no phase delay or lead to the steering wheel angle. Test conditions were as follows: vehicle speed at 4 km/h and steering wheel angle frequency of.4 Hz. In the preliminary study, the spring constant of the bench is adjusted to the condition of the HIL simulator testing. Figure 7 shows the comparison of steering torque between the HIL simulator and spring load. Steering torque near 5 deg is same, but there is difference of steering torque at the center position. From this result, it is considered that the difference of steering torque is caused by the phase characteristic of rack force. In order to reproduce the characteristic of steering torque, not only the characteristics of the steering system and control algorithm, but also the transient characteristic of the load of the actual vehicle is necessary. It is clarified that only the characteristic of a steering system can be evaluated properly by HIL simulator. 6 4 km/h,.4 Hz Actual vehicle Spring load Fig. 7 Lissajou's figure of steering torque with respect to steering wheel angle 7. HIL Simulator for Optimizing Steering System Architecture It is known that the mechanical dynamics of a steering system influence the various characteristics concerning the vehicle including its steering performance. However, the architecture of the steering system specifications has not been examined based on the relationship between the dynamics of the steering system and the steering performance of the vehicle. The design criterion of each steering component has not been optimized enough to realize that steering architecture. The appropriate tool for the optimization of steering system architecture is proposed by improving this HIL simulator. This simulator can optimize not only the mechanical dynamics but also electrical dynamics on steering systems. This paper describes the result of preliminary research on the influence of mechanical dynamics on steering system performance. A steering model that represents the elements of steering systems was constructed. This steering model can simulate the effects of the value and location of the dynamics on the steering system. The electric power steering system that is the same as the one installed in the HIL simulator was modeled. The performance of a steering system installed into a vehicle can be simulated by the integrated model that consists of this steering model and the developed vehicle model. Figure 8 shows the comparison between the result of the simulation with the steering model and that of the bench testing of the actual steering system. 2 JTEKT Engineering Journal English Edition No. 13E (27)

5 4 Actual system Detail model Fig. 8 Lissajou's figure of steering torque with respect to steering wheel angle In this simulation and bench testing, the steering wheel angle was given as the input signal. The steering tie rod was connected to a proportional spring load in order to confirm if the developed steering model could represent the performance the same as the actual steering system. From this result, it is confirmed that this developed steering model nearly reproduces the performance of the steering system. The influence of the friction elements of the steering column shaft on the characteristics of the steering system and the steering performance of the vehicle was simulated. The coefficients of friction R1 and R2, which were located around each side of the torsion bar as shown in the Fig. 9, were changed. The characteristics of the steering system itself were simulated when the steering wheel angle was given to the steering model as the input signal, and the characteristics of the steering system and the steering performance of the vehicle were simulated when the disturbance torque was given to the model as the input signal. The specification of this disturbance torque was determined from measured rack force during driving on a rough road. Figure 1 shows the result of the simulation when the steering wheel angle was given. Figures 11 and 12 show the result of the simulation when the disturbance torque was given. This result shows that the characteristics between steering wheel angle and steering torque were not influenced by those dynamics, as shown in Fig. 1. When the input signal was disturbance torque, the change of the steering rack stroke was different between the locations of the friction element on the steering column shaft as shown in Fig. 11. In Fig. 12, it is clarified that the element of friction can work as a mask against the disturbance torque according to its location, when each yaw rate of the vehicle is compared. From these results, it is clarified that there is the difference of the steering performance of the vehicle owing to the location of the dynamics even if the characteristics against the driver's input are the same. It is considered that this difference influences the steering architecture and the steering control logic. But this influence is not quantified precisely. In the future, the characteristics of the steering system will be investigated, when not only the mechanical parameters but also the electrical parameters are changed. Moreover, the studies concerning the optimization method of those parameters from the viewpoint of the steering system performance and the steering performance of the vehicle will be carried out. 4 Normal model R1 changed R2 changed ECU Motor Fig. 1 Lissajou's figure of steering torque with respect to steering wheel angle by simulation Steering wheel R1 R2 Steering gear Fig. 9 Steering simulation model JTEKT Engineering Journal English Edition No. 13E (27) 21

6 Rack stroke, mm.5 Normal model R1 changed R2 changed.25 2 Time, s Fig. 11 Simulation result of rack stroke against disturbance torque (V = 4 km/h, Disturbance: + 6 N, 1 Hz) Normal model R1 changed R2 changed References 1) M. Segawa, T. Usui, S. Nakano, M. Shino and M. Nagai: Development of Hardware-in-the-Loop (HIL) Simulator for Electric Power Steering System Evaluation (First Report), Trans of JSAE, 36, 2 (25) ) S. Nagiri, S. Doi, S. Matsushima and K. Asano: Control Method of Steering Reaction Torque in A Driving Simulator, Trans of JSAE, 25, 2 (1994) ) M. Abe: VEHICLE DYNAMICS AND CONTROL (in Japanese), The Co., Ltd. Sankaidou press, (1992) 148 4) H. Sakai: Tire Engineering (in Japanese), Grand-Prix Pub. Co., (1987) 234 5) S. Takano and M. Nagai: Study of a Vehicle Dynamics Model for Improving Roll Stability, Proc. of JSAE, 38-2 (22) 11. 6) H. Sato, T. Haraguchi, and H.Osawa: Experimental Analysis of Steering Response Characteristics and Steering Feeling, Journal of JSAE, 44, 3 (199) 52. Yaw rate, rad/s 7 2 Time, s Fig. 12 Simulation result of yaw rate against disturbance torque (V = 4 km/h, Disturbance: + 6 N, 1 Hz) 8. Conclusion In this paper, steering system evaluations were carried out as a preliminary study for the quantitative analysis of steering characteristics. It is clarified that the transient characteristic of the rack force influences the steering torque against steering angle. Moreover, only the characteristic of the steering system can be evaluated properly using this HIL simulator. In order to improve this HIL simulator, the influences of mechanical dynamics of the steering system were investigated using the developed simulation model as a preliminary study. It is clarified that the location of the dynamics is important in designing steering system architecture considering the steering performance of the vehicle. In the future, technical issues identified in this study will be resolved. Also, a study concerning steering simulators that are useful for the development of new steering systems will be carried out. M. SEGAWA * M. HIGASHI ** * Future Technology for Next Product & Process Innovation R&D Department, Research & Development Center, PhD ** Electronic Systems R&D Department, Research & Development Center 22 JTEKT Engineering Journal English Edition No. 13E (27)

Dynamic Behavior Analysis of Hydraulic Power Steering Systems

Dynamic Behavior Analysis of Hydraulic Power Steering Systems Dynamic Behavior Analysis of Hydraulic Power Steering Systems Y. TOKUMOTO * *Research & Development Center, Control Devices Development Department Research regarding dynamic modeling of hydraulic power

More information

Development of Rattle Noise Analysis Technology for Column Type Electric Power Steering Systems

Development of Rattle Noise Analysis Technology for Column Type Electric Power Steering Systems TECHNICAL REPORT Development of Rattle Noise Analysis Technology for Column Type Electric Power Steering Systems S. NISHIMURA S. ABE The backlash adjustment mechanism for reduction gears adopted in electric

More information

Steering Actuator for Autonomous Driving and Platooning *1

Steering Actuator for Autonomous Driving and Platooning *1 TECHNICAL PAPER Steering Actuator for Autonomous Driving and Platooning *1 A. ISHIHARA Y. KUROUMARU M. NAKA The New Energy and Industrial Technology Development Organization (NEDO) is running a "Development

More information

Strategy for Transfer Elemental Designing and Employing Physical Characteristic Modeling of Steering Maneuvering (the Second Report)

Strategy for Transfer Elemental Designing and Employing Physical Characteristic Modeling of Steering Maneuvering (the Second Report) TECHNICAL PAPER Strategy for Transfer Elemental Designing and Employing Physical Characteristic Modeling of Steering Maneuvering (the Second Report) S. KIMURA S. NAKANO Our previous report introduced a

More information

Parameter Design and Tuning Tool for Electric Power Steering System

Parameter Design and Tuning Tool for Electric Power Steering System TECHNICL REPORT Parameter Design and Tuning Tool for Electric Power Steering System T. TKMTSU T. TOMIT Installation of Electric Power Steering systems (EPS) for automobiles has expanded rapidly in the

More information

Study of the Performance of a Driver-vehicle System for Changing the Steering Characteristics of a Vehicle

Study of the Performance of a Driver-vehicle System for Changing the Steering Characteristics of a Vehicle 20 Special Issue Estimation and Control of Vehicle Dynamics for Active Safety Research Report Study of the Performance of a Driver-vehicle System for Changing the Steering Characteristics of a Vehicle

More information

Development of High Power Column-Type Electric Power Steering System

Development of High Power Column-Type Electric Power Steering System TECHNICAL REPORT Development of High Power Column-Type Electric Power Steering System Y. NAGAHASHI A. KAWAKUBO T. TSUJIMOTO K. KAGEI J. HASEGAWA S. KAKUTANI Recently, demands have increased for column-type

More information

Research on Skid Control of Small Electric Vehicle (Effect of Velocity Prediction by Observer System)

Research on Skid Control of Small Electric Vehicle (Effect of Velocity Prediction by Observer System) Proc. Schl. Eng. Tokai Univ., Ser. E (17) 15-1 Proc. Schl. Eng. Tokai Univ., Ser. E (17) - Research on Skid Control of Small Electric Vehicle (Effect of Prediction by Observer System) by Sean RITHY *1

More information

Development of a Clutch Control System for a Hybrid Electric Vehicle with One Motor and Two Clutches

Development of a Clutch Control System for a Hybrid Electric Vehicle with One Motor and Two Clutches Development of a Clutch Control System for a Hybrid Electric Vehicle with One Motor and Two Clutches Kazutaka Adachi*, Hiroyuki Ashizawa**, Sachiyo Nomura***, Yoshimasa Ochi**** *Nissan Motor Co., Ltd.,

More information

Vehicle Turn Simulation Using FE Tire model

Vehicle Turn Simulation Using FE Tire model 3. LS-DYNA Anwenderforum, Bamberg 2004 Automotive / Crash Vehicle Turn Simulation Using FE Tire model T. Fukushima, H. Shimonishi Nissan Motor Co., LTD, Natushima-cho 1, Yokosuka, Japan M. Shiraishi SRI

More information

Relationship between steering torque and ease of driving with bar type steering in high speed range

Relationship between steering torque and ease of driving with bar type steering in high speed range Bulletin of the JSME Journal of Advanced Mechanical Design, Systems, and Manufacturing Vol., No., 7 Relationship between steering torque and ease of driving with bar type steering in high speed range Shun

More information

Development Trend of Advanced Steering System

Development Trend of Advanced Steering System SURVEY Development Trend of Advanced Steering System M. MORIYAMA Demands for additional functions of safety and comfort in steering systems have been increasing in accordance with the progress in electronics

More information

The Design of a Controller for the Steer-by-Wire System

The Design of a Controller for the Steer-by-Wire System 896 The Design of a Controller for the Steer-by-Wire System Se-Wook OH, Ho-Chol CHAE, Seok-Chan YUN and Chang-Soo HAN Drive-by-Wire (DBW) technologies improve conventional vehicle performance and a Steer-by-Wire

More information

Modeling, Analysis and Control Methods for Improving Vehicle Dynamic Behavior (Overview)

Modeling, Analysis and Control Methods for Improving Vehicle Dynamic Behavior (Overview) Special Issue Modeling, Analysis and Control Methods for Improving Vehicle Dynamic Behavior Review Modeling, Analysis and Control Methods for Improving Vehicle Dynamic Behavior (Overview) Toshimichi Takahashi

More information

Multi-axial fatigue life assessment of high speed car body based on PDMR method

Multi-axial fatigue life assessment of high speed car body based on PDMR method MATEC Web of Conferences 165, 17006 (018) FATIGUE 018 https://doi.org/10.1051/matecconf/01816517006 Multi-axial fatigue life assessment of high speed car body based on PDMR method Chaotao Liu 1,*, Pingbo

More information

Development of a New Steer-by-wire System

Development of a New Steer-by-wire System NTN TECHNICAL REVIEW No.79 2 Technical Paper Development of a New Steer-by-wire System Katsutoshi MOGI Tomohiro SUGAI Ryo SAKURAI Nobuyuki SUZUKI NTN has been developing a new steer-by-wire system. In

More information

Steering performance of an inverted pendulum vehicle with pedals as a personal mobility vehicle

Steering performance of an inverted pendulum vehicle with pedals as a personal mobility vehicle THEORETICAL & APPLIED MECHANICS LETTERS 3, 139 (213) Steering performance of an inverted pendulum vehicle with pedals as a personal mobility vehicle Chihiro Nakagawa, 1, a) Kimihiko Nakano, 2, b) Yoshihiro

More information

Development of Hydraulic Power Steering (HPS) System for Large Vehicles

Development of Hydraulic Power Steering (HPS) System for Large Vehicles TECHNICAL REPORT Development of Hydraulic Power Steering (HPS) System for Large Vehicles T. SUGIMOTO I. UNO H. ISHIHARA S. URANO T. OHHASHI T. IKEDA In accordance with recent increases in crude oil prices

More information

Application Technology regarding High-Powered Electric Power Steering System*

Application Technology regarding High-Powered Electric Power Steering System* TECHNICAL REPORT Application Technology regarding High-Powered Electric Power Steering System* T. TAKAHASHI H. SUZUKI T. NAKAYAMA K. FUJIYAMA S. YAMAGUCHI M. YAMASHITA T. GOTO T. SAITO In response to demands

More information

Fuzzy Architecture of Safety- Relevant Vehicle Systems

Fuzzy Architecture of Safety- Relevant Vehicle Systems Fuzzy Architecture of Safety- Relevant Vehicle Systems by Valentin Ivanov and Barys Shyrokau Automotive Engineering Department, Ilmenau University of Technology (Germany) 1 Content 1. Introduction 2. Fuzzy

More information

Planetary Roller Type Traction Drive Unit for Printing Machine

Planetary Roller Type Traction Drive Unit for Printing Machine TECHNICAL REPORT Planetary Roller Type Traction Drive Unit for Printing Machine A. KAWANO This paper describes the issues including the rotation unevenness, transmission torque and service life which should

More information

Application of DSS to Evaluate Performance of Work Equipment of Wheel Loader with Parallel Linkage

Application of DSS to Evaluate Performance of Work Equipment of Wheel Loader with Parallel Linkage Technical Papers Toru Shiina Hirotaka Takahashi The wheel loader with parallel linkage has one remarkable advantage. Namely, it offers a high degree of parallelism to its front attachment. Loaders of this

More information

Active Systems Design: Hardware-In-the-Loop Simulation

Active Systems Design: Hardware-In-the-Loop Simulation Active Systems Design: Hardware-In-the-Loop Simulation Eng. Aldo Sorniotti Eng. Gianfrancesco Maria Repici Departments of Mechanics and Aerospace Politecnico di Torino C.so Duca degli Abruzzi - 10129 Torino

More information

Driving Performance Improvement of Independently Operated Electric Vehicle

Driving Performance Improvement of Independently Operated Electric Vehicle EVS27 Barcelona, Spain, November 17-20, 2013 Driving Performance Improvement of Independently Operated Electric Vehicle Jinhyun Park 1, Hyeonwoo Song 1, Yongkwan Lee 1, Sung-Ho Hwang 1 1 School of Mechanical

More information

Improvement of Vehicle Dynamics by Right-and-Left Torque Vectoring System in Various Drivetrains x

Improvement of Vehicle Dynamics by Right-and-Left Torque Vectoring System in Various Drivetrains x Improvement of Vehicle Dynamics by Right-and-Left Torque Vectoring System in Various Drivetrains x Kaoru SAWASE* Yuichi USHIRODA* Abstract This paper describes the verification by calculation of vehicle

More information

China. Keywords: Electronically controled Braking System, Proportional Relay Valve, Simulation, HIL Test

China. Keywords: Electronically controled Braking System, Proportional Relay Valve, Simulation, HIL Test Applied Mechanics and Materials Online: 2013-10-11 ISSN: 1662-7482, Vol. 437, pp 418-422 doi:10.4028/www.scientific.net/amm.437.418 2013 Trans Tech Publications, Switzerland Simulation and HIL Test for

More information

Reduction of Self Induced Vibration in Rotary Stirling Cycle Coolers

Reduction of Self Induced Vibration in Rotary Stirling Cycle Coolers Reduction of Self Induced Vibration in Rotary Stirling Cycle Coolers U. Bin-Nun FLIR Systems Inc. Boston, MA 01862 ABSTRACT Cryocooler self induced vibration is a major consideration in the design of IR

More information

Study on the Servo Drive of PM-LSM to Be Used in Parallel Synchronous Drive

Study on the Servo Drive of PM-LSM to Be Used in Parallel Synchronous Drive Journal of Mechanics Engineering and Automation 5 (2015) 580-584 doi: 10.17265/2159-5275/2015.10.007 D DAVID PUBLISHING Study on the Servo Drive of PM-LSM to Be Used in Parallel Synchronous Drive Hiroyuki

More information

A Methodology to Investigate the Dynamic Characteristics of ESP Hydraulic Units - Part II: Hardware-In-the-Loop Tests

A Methodology to Investigate the Dynamic Characteristics of ESP Hydraulic Units - Part II: Hardware-In-the-Loop Tests A Methodology to Investigate the Dynamic Characteristics of ESP Hydraulic Units - Part II: Hardware-In-the-Loop Tests Aldo Sorniotti Politecnico di Torino, Department of Mechanics Corso Duca degli Abruzzi

More information

Super-low Friction Torque Technology of Tapered Roller Bearings for Reduction of Environmental Burdens

Super-low Friction Torque Technology of Tapered Roller Bearings for Reduction of Environmental Burdens TECHNICAL REPORT Super-low Friction Torque Technology of Tapered Roller Bearings for Reduction of Environmental Burdens H. MATSUYAMA K. KAWAGUCHI A. UEMURA N. MASUDA We developed a tapered roller bearing

More information

Finite Element Analysis of Clutch Piston Seal

Finite Element Analysis of Clutch Piston Seal Finite Element Analysis of Clutch Piston Seal T. OYA * F. KASAHARA * *Research & Development Center Tribology Research Department Three-dimensional finite element analysis was used to simulate deformation

More information

Estimation of Friction Force Characteristics between Tire and Road Using Wheel Velocity and Application to Braking Control

Estimation of Friction Force Characteristics between Tire and Road Using Wheel Velocity and Application to Braking Control Estimation of Friction Force Characteristics between Tire and Road Using Wheel Velocity and Application to Braking Control Mamoru SAWADA Eiichi ONO Shoji ITO Masaki YAMAMOTO Katsuhiro ASANO Yoshiyuki YASUI

More information

Features of the Ball Screw

Features of the Ball Screw Features of the Driving Torque One Third of the Sliding Screw With the, balls roll between the screw shaft and the nut to achieve high effi ciency. Its required driving torque is only one third of the

More information

Analysis on Steering Gain and Vehicle Handling Performance with Variable Gear-ratio Steering System(VGS)

Analysis on Steering Gain and Vehicle Handling Performance with Variable Gear-ratio Steering System(VGS) Seoul 2000 FISITA World Automotive Congress June 12-15, 2000, Seoul, Korea F2000G349 Analysis on Steering Gain and Vehicle Handling Performance with Variable Gear-ratio Steering System(VGS) Masato Abe

More information

Research in hydraulic brake components and operational factors influencing the hysteresis losses

Research in hydraulic brake components and operational factors influencing the hysteresis losses Research in hydraulic brake components and operational factors influencing the hysteresis losses Shreyash Balapure, Shashank James, Prof.Abhijit Getem ¹Student, B.E. Mechanical, GHRCE Nagpur, India, ¹Student,

More information

Application of Steering Robot in the Test of Vehicle Dynamic Characteristics

Application of Steering Robot in the Test of Vehicle Dynamic Characteristics 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA 2) Application of Steering Robot in the Test of Vehicle Dynamic Characteristics Runqing Guo,a *, Zhaojuan Jiang 2,b and Lin

More information

Pitch Motion Control without Braking Distance Extension considering Load Transfer for Electric Vehicles with In-Wheel Motors

Pitch Motion Control without Braking Distance Extension considering Load Transfer for Electric Vehicles with In-Wheel Motors IIC-1-14 Pitch Motion Control without Braking Distance Extension considering Load Transfer for Electric Vehicles with In-Wheel Motors Ting Qu, Hiroshi Fujimoto, Yoichi Hori (The University of Tokyo) Abstract:

More information

Development of Novel Connection Control Method for Small Scale Solar - Wind Hybrid Power Plant

Development of Novel Connection Control Method for Small Scale Solar - Wind Hybrid Power Plant Development of Novel Connection Control Method for Small Scale Solar - Wind Hybrid Power Plant Vu Minh Phap*, N. Yamamura, M. Ishida, J. Hirai, K. Nakatani Department of Electrical and Electronic Engineering,

More information

Study on Mechanism of Impact Noise on Steering Gear While Turning Steering Wheel in Opposite Directions

Study on Mechanism of Impact Noise on Steering Gear While Turning Steering Wheel in Opposite Directions Study on Mechanism of Impact Noise on Steering Gear While Turning Steering Wheel in Opposite Directions Jeong-Tae Kim 1 ; Jong Wha Lee 2 ; Sun Mok Lee 3 ; Taewhwi Lee 4 ; Woong-Gi Kim 5 1 Hyundai Mobis,

More information

Identification of a driver s preview steering control behaviour using data from a driving simulator and a randomly curved road path

Identification of a driver s preview steering control behaviour using data from a driving simulator and a randomly curved road path AVEC 1 Identification of a driver s preview steering control behaviour using data from a driving simulator and a randomly curved road path A.M.C. Odhams and D.J. Cole Cambridge University Engineering Department

More information

Vehicle Dynamic Simulation Using A Non-Linear Finite Element Simulation Program (LS-DYNA)

Vehicle Dynamic Simulation Using A Non-Linear Finite Element Simulation Program (LS-DYNA) Vehicle Dynamic Simulation Using A Non-Linear Finite Element Simulation Program (LS-DYNA) G. S. Choi and H. K. Min Kia Motors Technical Center 3-61 INTRODUCTION The reason manufacturers invest their time

More information

Active Driver Assistance for Vehicle Lanekeeping

Active Driver Assistance for Vehicle Lanekeeping Active Driver Assistance for Vehicle Lanekeeping Eric J. Rossetter October 30, 2003 D D L ynamic esign aboratory Motivation In 2001, 43% of all vehicle fatalities in the U.S. were caused by a collision

More information

INTERNATIONAL JOURNAL OF ENGINEERING SCIENCES & RESEARCH TECHNOLOGY

INTERNATIONAL JOURNAL OF ENGINEERING SCIENCES & RESEARCH TECHNOLOGY [Sarvi, 1(9): Nov., 2012] ISSN: 2277-9655 IJESRT INTERNATIONAL JOURNAL OF ENGINEERING SCIENCES & RESEARCH TECHNOLOGY A Sliding Mode Controller for DC/DC Converters. Mohammad Sarvi 2, Iman Soltani *1, NafisehNamazypour

More information

2.5 th Generation Double-Row Tapered Roller Bearing Hub Unit for SUVs and Pickup Trucks

2.5 th Generation Double-Row Tapered Roller Bearing Hub Unit for SUVs and Pickup Trucks TECHNICAL REPORT.5 th Generation Double-Row Tapered Roller Bearing Hub Unit for SUVs and Pickup Trucks K. FURUKAWA Generally-speaking, passenger cars use double-row angular contact ball bearing hub units

More information

Steering Module Test Simulator SMTS

Steering Module Test Simulator SMTS Steering Module Test Simulator Overview The Steering Module Test Simulator () from MB Dynamics is a non-hydraulic turnkey lab test system, offering accurate, reliable and repeatable in-laboratory simulations

More information

Modelling of electronic throttle body for position control system development

Modelling of electronic throttle body for position control system development Chapter 4 Modelling of electronic throttle body for position control system development 4.1. INTRODUCTION Based on the driver and other system requirements, the estimated throttle opening angle has to

More information

Generator Speed Control Utilizing Hydraulic Displacement Units in a Constant Pressure Grid for Mobile Electrical Systems

Generator Speed Control Utilizing Hydraulic Displacement Units in a Constant Pressure Grid for Mobile Electrical Systems Group 10 - Mobile Hydraulics Paper 10-5 199 Generator Speed Control Utilizing Hydraulic Displacement Units in a Constant Pressure Grid for Mobile Electrical Systems Thomas Dötschel, Michael Deeken, Dr.-Ing.

More information

ENERGY-SAVING HYDRAULIC POWER SOURCE USING INVERTER-MOTOR DRIVE

ENERGY-SAVING HYDRAULIC POWER SOURCE USING INVERTER-MOTOR DRIVE ENERGY-SAVING HYDRAULIC POWER SOURCE USING INVERTER-MOTOR DRIVE Yutaka Tanaka, Kazuo Nakano* Naoyuki Yamamoto** * Research Laboratory of Precision Machinery and Electronics **Graduate School Tokyo Institute

More information

Fully Active vs. Reactive AWD coupling systems. How much performance is really needed? Thomas Linortner Manager, Systems Architecture

Fully Active vs. Reactive AWD coupling systems. How much performance is really needed? Thomas Linortner Manager, Systems Architecture Fully Active vs. Reactive AWD coupling systems How much performance is really needed? Thomas Linortner Manager, Systems Architecture Overview 1. Market requirements for AWD systems 2. Active and Reactive

More information

Appendix A: Motion Control Theory

Appendix A: Motion Control Theory Appendix A: Motion Control Theory Objectives The objectives for this appendix are as follows: Learn about valve step response. Show examples and terminology related to valve and system damping. Gain an

More information

Research on Lubricant Leakage in Spiral Groove Bearing

Research on Lubricant Leakage in Spiral Groove Bearing TECHNICAL REPORT Research on Lubricant Leakage in Spiral Groove Bearing T. OGIMOTO T. TAKAHASHI In recent years, bearings for spindle motors have been required for high-speed rotation with high accuracy

More information

Seismic-upgrading of Existing Stacks of Nuclear Power Station using Structural Control Oil Dampers

Seismic-upgrading of Existing Stacks of Nuclear Power Station using Structural Control Oil Dampers October 12-17, 28, Beijing, China ABSTRACT : Seismic-upgrading of Existing Stacks of Nuclear Power Station using Structural Control Oil Dampers Ryu Shimamoto 1, Fukashi Mori 2, Tomonori Kitaori 2, Satoru

More information

Analysis and evaluation of a tyre model through test data obtained using the IMMa tyre test bench

Analysis and evaluation of a tyre model through test data obtained using the IMMa tyre test bench Vehicle System Dynamics Vol. 43, Supplement, 2005, 241 252 Analysis and evaluation of a tyre model through test data obtained using the IMMa tyre test bench A. ORTIZ*, J.A. CABRERA, J. CASTILLO and A.

More information

Performance of Rear Differential Depending on Vehicle Driving Mode

Performance of Rear Differential Depending on Vehicle Driving Mode TECHNICAL REPORT Performance of Rear Differential Depending on Vehicle Driving Mode K. KAWAGUCHI A. UEMURA H. MATSUYAMA T. AIDA JTEKT has developed a tapered roller bearing with super-low-friction torque

More information

A study on the vibration analysis of a maglev vehicle A theoretical investigation of the effect of magnetic damping on a vibration control system

A study on the vibration analysis of a maglev vehicle A theoretical investigation of the effect of magnetic damping on a vibration control system International Journal of Applied Electromagnetics and Mechanics 13 (2001/2002) 79 83 79 IOS Press A study on the vibration analysis of a maglev vehicle A theoretical investigation of the effect of magnetic

More information

Development of Seamless Shift for Formula One Car

Development of Seamless Shift for Formula One Car Development of Seamless Shift for Formula One Car Takashi YOSHIOKA* Katsumi KUBO* Takeshi UCHIYAMA* Ryo MATSUI* ABSTRACT Honda focused on gearbox development during its third Formula One era. The reduction

More information

Development of Integrated Vehicle Dynamics Control System S-AWC

Development of Integrated Vehicle Dynamics Control System S-AWC Development of Integrated Vehicle Dynamics Control System S-AWC Takami MIURA* Yuichi USHIRODA* Kaoru SAWASE* Naoki TAKAHASHI* Kazufumi HAYASHIKAWA** Abstract The Super All Wheel Control (S-AWC) for LANCER

More information

Estimation and Control of Vehicle Dynamics for Active Safety

Estimation and Control of Vehicle Dynamics for Active Safety Special Issue Estimation and Control of Vehicle Dynamics for Active Safety Estimation and Control of Vehicle Dynamics for Active Safety Review Eiichi Ono Abstract One of the most fundamental approaches

More information

Development of Engine Clutch Control for Parallel Hybrid

Development of Engine Clutch Control for Parallel Hybrid EVS27 Barcelona, Spain, November 17-20, 2013 Development of Engine Clutch Control for Parallel Hybrid Vehicles Joonyoung Park 1 1 Hyundai Motor Company, 772-1, Jangduk, Hwaseong, Gyeonggi, 445-706, Korea,

More information

Friction Characteristics Analysis for Clamping Force Setup in Metal V-belt Type CVTs

Friction Characteristics Analysis for Clamping Force Setup in Metal V-belt Type CVTs 14 Special Issue Basic Analysis Towards Further Development of Continuously Variable Transmissions Research Report Friction Characteristics Analysis for Clamping Force Setup in Metal V-belt Type CVTs Hiroyuki

More information

Development of Motor-Assisted Hybrid Traction System

Development of Motor-Assisted Hybrid Traction System Development of -Assisted Hybrid Traction System 1 H. IHARA, H. KAKINUMA, I. SATO, T. INABA, K. ANADA, 2 M. MORIMOTO, Tetsuya ODA, S. KOBAYASHI, T. ONO, R. KARASAWA Hokkaido Railway Company, Sapporo, Japan

More information

Matching Design of Power Coupling for Two-Motor-Drive Electric Vehicle Lin Cheng1, a, Zhang Ru1, a, Xu Zhifeng1, a, Wang Gang1, a

Matching Design of Power Coupling for Two-Motor-Drive Electric Vehicle Lin Cheng1, a, Zhang Ru1, a, Xu Zhifeng1, a, Wang Gang1, a 2nd International Conference on Electronic & Mechanical Engineering and Information Technology (EMEIT-212) Matching Design of Power Coupling for Two-Motor-Drive Electric Vehicle Lin Cheng1, a, Zhang Ru1,

More information

A study on the evaluation method of the characteristics of the contact point between wheel and rail

A study on the evaluation method of the characteristics of the contact point between wheel and rail Computers in Railways XI 73 A study on the evaluation method of the characteristics of the contact point between wheel and rail M. Adachi 1 & T. Shimomura 2 1 National Traffic Safety and Environment Laboratory,

More information

ISO 7401 INTERNATIONAL STANDARD. Road vehicles Lateral transient response test methods Open-loop test methods

ISO 7401 INTERNATIONAL STANDARD. Road vehicles Lateral transient response test methods Open-loop test methods INTERNATIONAL STANDARD ISO 7401 Third edition 2011-04-15 Road vehicles Lateral transient response test methods Open-loop test methods Véhicules routiers Méthodes d'essai de réponse transitoire latérale

More information

Multi-body Dynamical Modeling and Co-simulation of Active front Steering Vehicle

Multi-body Dynamical Modeling and Co-simulation of Active front Steering Vehicle The nd International Conference on Computer Application and System Modeling (01) Multi-body Dynamical Modeling and Co-simulation of Active front Steering Vehicle Feng Ying Zhang Qiao Dept. of Automotive

More information

MOTOR VEHICLE HANDLING AND STABILITY PREDICTION

MOTOR VEHICLE HANDLING AND STABILITY PREDICTION MOTOR VEHICLE HANDLING AND STABILITY PREDICTION Stan A. Lukowski ACKNOWLEDGEMENT This report was prepared in fulfillment of the Scholarly Activity Improvement Fund for the 2007-2008 academic year funded

More information

MODELING SUSPENSION DAMPER MODULES USING LS-DYNA

MODELING SUSPENSION DAMPER MODULES USING LS-DYNA MODELING SUSPENSION DAMPER MODULES USING LS-DYNA Jason J. Tao Delphi Automotive Systems Energy & Chassis Systems Division 435 Cincinnati Street Dayton, OH 4548 Telephone: (937) 455-6298 E-mail: Jason.J.Tao@Delphiauto.com

More information

High Efficiency and Tribology in Rolling Bearings

High Efficiency and Tribology in Rolling Bearings TECHNICAL REPORT High Efficiency and Tribology in Rolling Bearings H. MATSUYAMA Rolling s widely used to support rotating shafts in various industrial machineries are based on tribology. Tribology is the

More information

Overview of Test Procedure of HILS in Japan

Overview of Test Procedure of HILS in Japan 1/24 Working Paper No. HDH-DG-01-02e (1 st HDH Drafting Group meeting, 19 to 20 March 2013) Overview of Test Procedure of HILS in Japan Heavy Duty Hybrids GTR Drafting Meeting Date.19-20,March,2013 JASIC

More information

Project Summary Fuzzy Logic Control of Electric Motors and Motor Drives: Feasibility Study

Project Summary Fuzzy Logic Control of Electric Motors and Motor Drives: Feasibility Study EPA United States Air and Energy Engineering Environmental Protection Research Laboratory Agency Research Triangle Park, NC 277 Research and Development EPA/600/SR-95/75 April 996 Project Summary Fuzzy

More information

CHAPTER 4: EXPERIMENTAL WORK 4-1

CHAPTER 4: EXPERIMENTAL WORK 4-1 CHAPTER 4: EXPERIMENTAL WORK 4-1 EXPERIMENTAL WORK 4.1 Preamble 4-2 4.2 Test setup 4-2 4.2.1 Experimental setup 4-2 4.2.2 Instrumentation, control and data acquisition 4-4 4.3 Hydro-pneumatic spring characterisation

More information

Special edition paper

Special edition paper Efforts for Greater Ride Comfort Koji Asano* Yasushi Kajitani* Aiming to improve of ride comfort, we have worked to overcome issues increasing Shinkansen speed including control of vertical and lateral

More information

HANDLING QUALITY OBJECTIVE EVALUATION OF LIGHT COMMERCIAL VEHICLES

HANDLING QUALITY OBJECTIVE EVALUATION OF LIGHT COMMERCIAL VEHICLES HANDLING QUALITY OBJECTIVE EVALUATION OF LIGHT COMMERCIAL VEHICLES PRESENTING AUTHOR M. Pesce CRF, VEHICLE DYNAMICS CO-AUTHORS D. Gostoli, A. Fagiano - IVECO, QUALITY EVALUATION, CS & QUALITY M. Mazzarino

More information

Analysis of Instability Factor for Fuel Economy Test on 4WD Chassis Dynamometer

Analysis of Instability Factor for Fuel Economy Test on 4WD Chassis Dynamometer Feature Article Analysis of Instability Factor for Fuel Economy Test on 4WD Chassis Dynamometer Yasuhiro OGAWA The four-wheeled drive (4WD) chassis dynamometer has been continually improved by the evolution

More information

Comparison of Braking Performance by Electro-Hydraulic ABS and Motor Torque Control for In-wheel Electric Vehicle

Comparison of Braking Performance by Electro-Hydraulic ABS and Motor Torque Control for In-wheel Electric Vehicle World Electric ehicle Journal ol. 6 - ISSN 232-6653 - 23 WEA Page Page 86 ES27 Barcelona, Spain, November 7-2, 23 Comparison of Braking Performance by Electro-Hydraulic ABS and Motor Torque Control for

More information

COMPRESSIBLE FLOW ANALYSIS IN A CLUTCH PISTON CHAMBER

COMPRESSIBLE FLOW ANALYSIS IN A CLUTCH PISTON CHAMBER COMPRESSIBLE FLOW ANALYSIS IN A CLUTCH PISTON CHAMBER Masaru SHIMADA*, Hideharu YAMAMOTO* * Hardware System Development Department, R&D Division JATCO Ltd 7-1, Imaizumi, Fuji City, Shizuoka, 417-8585 Japan

More information

Analysis and measurement of damping characteristics of linear generator

Analysis and measurement of damping characteristics of linear generator International Journal of Applied Electromagnetics and Mechanics 52 (2016) 1503 1510 1503 DOI 10.3233/JAE-162166 IOS Press Analysis and measurement of damping characteristics of linear generator Takahito

More information

Introduction. 1.2 Hydraulic system for crane operation

Introduction. 1.2 Hydraulic system for crane operation Two control systems have been newly developed for fuel saving in hydraulic wheel cranes: namely, a one-wayclutch system and an advanced engine control system. The former allows one-way transmission of

More information

Comparison of Braking Performance by Electro-Hydraulic ABS and Motor Torque Control for In-wheel Electric Vehicle

Comparison of Braking Performance by Electro-Hydraulic ABS and Motor Torque Control for In-wheel Electric Vehicle ES27 Barcelona, Spain, November 7-2, 23 Comparison of Braking Performance by Electro-Hydraulic ABS and Motor Torque Control for In-wheel Electric ehicle Sungyeon Ko, Chulho Song, Jeongman Park, Jiweon

More information

NUMERICAL ANALYSIS OF IMPACT BETWEEN SHUNTING LOCOMOTIVE AND SELECTED ROAD VEHICLE

NUMERICAL ANALYSIS OF IMPACT BETWEEN SHUNTING LOCOMOTIVE AND SELECTED ROAD VEHICLE Journal of KONES Powertrain and Transport, Vol. 21, No. 4 2014 ISSN: 1231-4005 e-issn: 2354-0133 ICID: 1130437 DOI: 10.5604/12314005.1130437 NUMERICAL ANALYSIS OF IMPACT BETWEEN SHUNTING LOCOMOTIVE AND

More information

Development of Super-low Friction Torque Technology for Tapered Roller Bearing

Development of Super-low Friction Torque Technology for Tapered Roller Bearing TECHNICAL PAPER Development of Super-low Friction Torque Technology for Tapered Roller Bearing H. MATSUYAMA H. DODORO K. OGINO H. OHSHIMA H. CHIBA K. TODA To achieve high efficiency in rear axle differentials,

More information

Test Bed 1 Energy Efficient Displacement-Controlled Hydraulic Hybrid Excavator

Test Bed 1 Energy Efficient Displacement-Controlled Hydraulic Hybrid Excavator Test Bed 1 Energy Efficient Displacement-Controlled Hydraulic Hybrid Excavator Enrique Busquets Monika Ivantysynova October 7, 2015 Maha Fluid Power Research Center Purdue University, West Lafayette, IN,

More information

Active Roll Control (ARC): System Design and Hardware-Inthe-Loop

Active Roll Control (ARC): System Design and Hardware-Inthe-Loop Active Roll Control (ARC): System Design and Hardware-Inthe-Loop Test Bench Correspondence A. SORNIOTTI, A. ORGANDO and. VELARDOCCHIA* Politecnico di Torino, Department of echanics *Corresponding author.

More information

Using MATLAB/ Simulink in the designing of Undergraduate Electric Machinery Courses

Using MATLAB/ Simulink in the designing of Undergraduate Electric Machinery Courses Using MATLAB/ Simulink in the designing of Undergraduate Electric Machinery Courses Mostafa.A. M. Fellani, Daw.E. Abaid * Control Engineering department Faculty of Electronics Technology, Beni-Walid, Libya

More information

Modeling tire vibrations in ABS-braking

Modeling tire vibrations in ABS-braking Modeling tire vibrations in ABS-braking Ari Tuononen Aalto University Lassi Hartikainen, Frank Petry, Stephan Westermann Goodyear S.A. Tag des Fahrwerks 8. Oktober 2012 Contents 1. Introduction 2. Review

More information

Cornering & Traction Test Rig MTS Flat-Trac IV CT plus

Cornering & Traction Test Rig MTS Flat-Trac IV CT plus Testing Facilities Cornering & Traction Test Rig MTS Flat-Trac IV CT plus s steady-state force and moment measurement dynamic force and moment measurement slip angel sweeps tests tractive tests sinusoidal

More information

VEHICLE DYNAMICS BASED ABS ECU TESTING ON A REAL-TIME HIL SIMULATOR

VEHICLE DYNAMICS BASED ABS ECU TESTING ON A REAL-TIME HIL SIMULATOR HUNGARIAN JOURNAL OF INDUSTRIAL CHEMISTRY VESZPRÉM Vol. 39(1) pp. 57-62 (2011) VEHICLE DYNAMICS BASED ABS ECU TESTING ON A REAL-TIME HIL SIMULATOR K. ENISZ, P. TÓTH, D. FODOR, T. KULCSÁR University of

More information

Bicycle Hardware in the Loop Simulator for Braking Dynamics Assistance System

Bicycle Hardware in the Loop Simulator for Braking Dynamics Assistance System Bicycle Hardware in the Loop Simulator for Braking Dynamics Assistance System IPG Apply & Innovate 2016 Conference Session: Off Highway Cornelius Bott, Martin Pfeiffer, Oliver Maier, Jürgen Wrede 21.09.2016

More information

A dream? Dr. Jürgen Bredenbeck Tire Technology Expo, February 2012 Cologne

A dream? Dr. Jürgen Bredenbeck Tire Technology Expo, February 2012 Cologne Rolling resistance measurement on the road: A dream? Dr. Jürgen Bredenbeck Tire Technology Expo, 14.-16. February 2012 Cologne Content Motivation Introduction of the used Measurement Equipment Introduction

More information

FEASIBILITY STYDY OF CHAIN DRIVE IN WATER HYDRAULIC ROTARY JOINT

FEASIBILITY STYDY OF CHAIN DRIVE IN WATER HYDRAULIC ROTARY JOINT FEASIBILITY STYDY OF CHAIN DRIVE IN WATER HYDRAULIC ROTARY JOINT Antti MAKELA, Jouni MATTILA, Mikko SIUKO, Matti VILENIUS Institute of Hydraulics and Automation, Tampere University of Technology P.O.Box

More information

Electro-Proportional Terms and Definitions

Electro-Proportional Terms and Definitions Electro-Proportional Terms and Definitions Valve Deadband The span of operation where there is no flow or pressure output for some specified range of command Hydraulic Valve Gain The characteristic relating

More information

Fuzzy-PID Control for Electric Power Steering

Fuzzy-PID Control for Electric Power Steering 2017 2nd International Conference on Mechatronics, Control and Automation Engineering (MCAE 2017) ISBN: 978-1-60595-490-5 Fuzzy-PID Control for Electric Power Steering Van-Giao NGUYEN 1,2,3, Xue-xun GUO

More information

Fig.1 Sky-hook damper

Fig.1 Sky-hook damper 1. Introduction To improve the ride comfort of the Maglev train, control techniques are important. Three control techniques were introduced into the Yamanashi Maglev Test Line vehicle. One method uses

More information

FMVSS 126 Electronic Stability Test and CarSim

FMVSS 126 Electronic Stability Test and CarSim Mechanical Simulation 912 North Main, Suite 210, Ann Arbor MI, 48104, USA Phone: 734 668-2930 Fax: 734 668-2877 Email: info@carsim.com Technical Memo www.carsim.com FMVSS 126 Electronic Stability Test

More information

EXPERIMENTAL RESEARCH OF PROPERTIES OF HYDRAULIC DRIVE FOR VALVES OF INTERNAL COMBUSTION ENGINES

EXPERIMENTAL RESEARCH OF PROPERTIES OF HYDRAULIC DRIVE FOR VALVES OF INTERNAL COMBUSTION ENGINES Journal of KONES Powertrain and Transport, Vol. 0, No. 1 013 EXPERIMENTAL RESEARCH OF PROPERTIES OF HYDRAULIC DRIVE FOR VALVES OF INTERNAL COMBUSTION ENGINES Tomasz Szyd owski, Mariusz Smoczy ski Technical

More information

Torque-Vectoring Control for Fully Electric Vehicles: Model-Based Design, Simulation and Vehicle Testing

Torque-Vectoring Control for Fully Electric Vehicles: Model-Based Design, Simulation and Vehicle Testing Torque-Vectoring Control for Fully Electric Vehicles: Model-Based Design, Simulation and Vehicle Testing Leonardo De Novellis, Aldo Sorniotti, Patrick Gruber University of Surrey, UK a.sorniotti@surrey.ac.uk

More information

Evaluation of the Fatigue Life of Aluminum Bogie Structures for the Urban Maglev

Evaluation of the Fatigue Life of Aluminum Bogie Structures for the Urban Maglev Evaluation of the Fatigue Life of Aluminum Bogie Structures for the Urban Maglev 1 Nam-Jin Lee, 2 Hyung-Suk Han, 3 Sung-Wook Han, 3 Peter J. Gaede, Hyundai Rotem company, Uiwang-City, Korea 1 ; KIMM, Daejeon-City

More information

METHOD FOR TESTING STEERABILITY AND STABILITY OF MILITARY VEHICLES MOTION USING SR60E STEERING ROBOT

METHOD FOR TESTING STEERABILITY AND STABILITY OF MILITARY VEHICLES MOTION USING SR60E STEERING ROBOT Journal of KONES Powertrain and Transport, Vol. 18, No. 1 11 METHOD FOR TESTING STEERABILITY AND STABILITY OF MILITARY VEHICLES MOTION USING SR6E STEERING ROBOT Wodzimierz Kupicz, Stanisaw Niziski Military

More information

Mohit Law. Keywords: Machine tools, Active vibration isolation, Electro-hydraulic actuator, Design guidelines, Sensitivity analysis

Mohit Law. Keywords: Machine tools, Active vibration isolation, Electro-hydraulic actuator, Design guidelines, Sensitivity analysis College of Engineering., Pune, Maharashtra, INDIA. Design Guidelines for an Electro-Hydraulic Actuator to Isolate Machines from Vibrations Mohit Law Department of Mechanical Engineering Indian Institute

More information

Modeling and Vibration Analysis of a Drum type Washing Machine

Modeling and Vibration Analysis of a Drum type Washing Machine Modeling and Vibration Analysis of a Drum type Washing Machine Takayuki KOIZUMI, Nobutaka TSUJIUCHI, Yutaka NISHIMURA Department of Engineering, Doshisha University, 1-3, Tataramiyakodani, Kyotanabe, Kyoto,

More information