Implementation of Interconnection Communication in ECPB In-Loop Testing System for Semi-Trailer Vehicles
Round 1
Reviewer 1 Report
Comments and Suggestions for AuthorsThe paper presents one of the preparation stages of a specialized test site for ECPBS systems of an articulated vehicle. The work focuses on solving an engineering problem and does not represent significant scientific value. On the other hand, the prepared and refined test site for ECPBS systems will be an excellent tool for further research work on the dynamics of articulated vehicles.
The introduction to the article explains well the complexity of the issue related to VIL testing methods against the background of publications on the subject. In the following chapters, the construction of the ECPB semi-trailer in-loop testing system is precisely described. The hardware part and the construction of the twin test vehicle, as well as the data flow of the ECPB semi-trailer in-loop testing system were highlighted.
However, the following points raise doubts:
- no explanation why the model of vehicle dynamics applies only to a tractor and not to an articulated vehicle consisting of a semi-tractor and semi-trailer;
- no explanation how the interaction between the tire and the surface was considered in the model;
- what would be the effect of communication delay time on the results obtained in relation to the type of road surface on which the twin test vehicle would operate (absence of an exact value for the parameter characterizing it);
- the authors stated in conclusion that “the twin test vehicle response the input signals within 0.6s, which can meet the testing requirements”. Can the authors relate this conclusion to the literature evidence, which suggests that such long response time would meet the test requirements.
The paper is also not free of minor editorial errors:
- line 18 - "0.7s", line 20 - "0.6 seconds". - please unify. The same situation line 247 and line 249;
- no reference in the text to figures 6, 7 and 8,
- in many places no spaces before units, e.g. line 136 - "500m" or before literature item numbers, e.g. line 29 - "ECPBS[2]"
- please unify the referencing of drawings, e.g. line 81 - "Figure 1", line 115 - "Fig. 2", etc.
Author Response
Comments 1:No explanation why the model of vehicle dynamics applies only to a tractor and not to an articulated vehicle consisting of a semi-tractor and semi-trailer.
Response 1:Thank you for pointing this out. In the twin test vehicle, the power source is provided by the tractor, and the low-speed condition is used in the test process, so only the dynamics analysis of the tractor is carried out.
Comments 2：No explanation how the interaction between the tire and the surface was considered in the model
Response 2：Thank you for pointing this out.This paper mainly studies the construction of data network in the system. The data compensation method aims to reduce the impact of communication delay on control, so the interaction between tire and road surface is not considered
Comments 3：What would be the effect of communication delay time on the results obtained in relation to the type of road surface on which the twin test vehicle would operate (absence of an exact value for the parameter characterizing it)
Response 3：Thank you for pointing this out.As shown in the simulation in Fig. 8, when the delay increases, the control signal will appear obvious lag and distortion, which is very unfavorable to the operation of the twin test vehicle. For different roads, it affects the friction coefficient between the tire and the road, and it affects the difference between the output state and the input state of the twin test vehicle. The test pavement in this paper is the common asphalt pavement in schools, and there is no condition for the influence of different types of pavement on the test results.
Comments 4:The authors stated in conclusion that “the twin test vehicle response the input signals within 0.6s, which can meet the testing requirements”. Can the authors relate this conclusion to the literature evidence, which suggests that such long response time would meet the test requirements.
Response 4:Thank you for pointing this out.According to the test results in reference 12, the upper limit of the test delay is greater than 1.5s, and the better test results are generated under the 1.2s delay. In contrast, the delay of 0.6s in this paper is also within the acceptable delay range.
Comments 5:The paper is also not free of minor editorial errors:
- line 18 - "0.7s", line 20 - "0.6 seconds". - please unify. The same situation line 247 and line 249;
- no reference in the text to figures 6, 7 and 8,
- in many places no spaces before units, e.g. line 136 - "500m" or before literature item numbers, e.g. line 29 - "ECPBS[2]"
please unify the referencing of drawings, e.g. line 81 - "Figure 1", line 115 - "Fig. 2", etc.
Response 5:Thank you for pointing this out. I have made the following modifications to the errors you pointed out. Mention exactly where in the revised manuscript this change can be found - line 18, 20, 29,116, etc.
Reviewer 2 Report
Comments and Suggestions for AuthorsThe article presents the results of a real-time modeling study of the movement of a semi-trailer.
The topic of the work is original and relevant to the scientific field of research. The article substantiates the importance and necessity of the research. In the paper, the authors apply the proposed delay compensation controller to control the motion of a twin test vehicle. The results of the study demonstrate the effectiveness of the proposed approach.
Notes:
Line 38: Fengzhizhang et al. [5] …
Must be: Fengzhi Zhang
Line 49: Sebastian et al. [8] …
Sebastian is a first name: Sebastian Jeschke
Lines 166-171:
It is worth detailing the description of Figure 4.
Line 154: Must be number 3.2
3.1. Data flow implementation
Line 176: Must be number 4
3. DELAY COMPENSATION CONTROLLER BASED ON MODEL PREDICTION
Line 207: It is necessary to explain in formula (1) Vx1. In formula (1) are Vx1 and υx1 the same?
Authors must adhere to the same notation of symbols in formulas.
Line 220: It is necessary to explain Φ in formula (2) and α in formula (3)
Line 224: What does Zr mean in formula (4)?
Line 226: It should be as in formula (4): ρε2
What values ​​can be taken in formula (5) Umin and Umax ?
Line 239: Must be number 4.3
4.2. Simulation test of delay compensation controller under sinusoidal motion condition
Reference should be made to Figures 6, 7 and 8 in the text of the article.
In the conclusion, it is necessary to indicate the perspective of further research.
Author Response
Comments 1: It is worth detailing the description of Figure 4.
Response 1: Thank you for pointing those out. I have modified the original text for this problem and added a description of its interaction process. - line 165-177.
Comments 2:Line 220: It is necessary to explain Φ in formula (2) and α in formula (3)
Response 2:Thank you for pointing those out.Φ indicates the turning angle of the tractor and is supplemented in the original text. - line 225.
Comments 3:Line 224: What does Zr mean in formula (4)?
Response 3:Thank you for pointing those out. Zr represents the current state quantity of twin test vehicle.
Comments 4:What values ​​can be taken in formula (5) Umin and Umax ?
Response 4: Thank you for pointing those out. The control quantity is reflected in the speed and angle on the twin test vehicle. Due to the limitation in design, the speed is limited to ± 20km/h and the angle is limited to ± 20 °
Comments 5:In the conclusion, it is necessary to indicate the perspective of further research.
Response 5:Thank you for pointing those out. For the outlook in the conclusion, I added the following research outlook.The above work has prepared and improved the test site for the ECPBS, and provided a better test method and tool for the further study of the dynamics of articulated vehicles.
Comments 6:Sebastian is a first name: Sebastian Jeschke, etc.
Response 6:Thank you for pointing those out. I have checked and corrected the incorrect format in the full text. - line 38, 49, 154, 179, 211, 232, etc.
Round 2
Reviewer 1 Report
Comments and Suggestions for AuthorsThe answers sent by the authors are satisfactory. The authors will certainly face and resolve the issues raised in the questions during further research.
