Search Results (6)

The efficient fault detection (FD) of traction control systems (TCSs) is crucial for ensuring the safe operation of high-speed trains. Transient faults (TFs) can arise due to prolonged operation and harsh environmental conditions, often being masked by background noise, particularly during dynamic operating conditions. Moreover, acquiring a sufficient number of samples across the entire scenario presents a challenging task, resulting in imbalanced data for FD. To address these limitations, an unsupervised transfer learning (TL) method via federated Cycle-Flow adversarial networks (CFANs) is proposed to effectively detect TFs under various operating conditions. Firstly, a CFAN is specifically designed for extracting latent features and reconstructing data in the source domain. Subsequently, a transfer learning framework employing federated CFANs collectively adjusts the modified knowledge resulting from domain alterations. Finally, the designed federated CFANs execute transient FD by constructing residuals in the target domain. The efficacy of the proposed methodology is demonstrated through comparative experiments. Full article

When a two-wheeled inverted pendulum (TWIP) robot vehicle travels on slippery roads, the occurrence of wheel slip extremely threatens its postural stability owing to the loss of wheel traction. If a severe wheel slip happens between the driving wheels and contact surfaces, no control techniques can guarantee the driving performance and stability of the TWIP robots in the absence of an extra wheel slip control strategy. In this paper, a TWIP-compatible countermeasure against the wheel slip phenomena is investigated for enhancing the reliability of the vehicle and the robustness of the motion control performance on low-frictional surfaces. To this end, we propose a balancing-prioritized anti-slip control method based on the maximum transmissible torque estimation, which is activated only when a wheel slip is detected by the acceleration slip indicator utilizing accessible data from the IMU and wheel encoders. It is proved that the TWIP vehicles applying the proposed method can successfully cope with low frictional surfaces while maintaining postural stability. Finally, comparative simulations and experiments demonstrate the effectiveness and feasibility of the proposed scheme. Full article

Tire slip control is one of the most critical topics in vehicle dynamics control, being the basis of systems such the Anti-lock Braking System (ABS), Traction Control System (TCS) or Electronic Stability Program (ESP). The highly nonlinear behavior of tire–road contact makes it challenging to design robust controllers able to find a dynamic stable solution in different working conditions. Furthermore, road conditions greatly affect the braking performance of vehicles, being lower on slippery roads than on roads with a high tire friction coefficient. For this reason, by knowing the value of this coefficient, it is possible to change the slip ratio tracking reference of the tires in order to obtain the optimal braking performance. In this paper, an $H_{\infty }$ controller is proposed to deal with the tire slip control problem and maximize the braking forces depending on the road condition. Simulations are carried out in the vehicular dynamics simulator software CarSim. The proposed controller is able to make the tire slip follow a given reference based on the friction coefficient for the different tested road conditions, resulting in a small reference error and good transient response. Full article

The development of new control algorithms in vehicles requires high economic resources, mainly due to the use of generic real-time instrumentation and control systems. In this work, we proposed a low-cost electronic control unit (ECU) that could be used for both development and implementation. The proposed electronic system used a hybrid system on chip (SoC) between a field-programmable gate array (FPGA) and an Advanced RISC (reduced instruction set computer) Machine (ARM) processor that allowed the execution of parallel tasks, fulfilling the real-time requirements that vehicle controls demand. Another feature of the proposed electronic system was the recording of measured data, allowing the performance of the implemented algorithm to be evaluated. All this was achieved by using modular programming that, without the need for a real-time operating system, executed the different tasks to be performed, exploiting the parallelism offered by the FPGA as well as the dual core of the ARM processor. This methodology facilitates the transition between the designing, testing, and implementation stages in the vehicle. In addition, our system is programmed with a single binary file that integrates the code of all processors as well as the hardware description of the FPGA, which speeds up the updating process. In order to validate and demonstrate the performance of the proposed electronic system as a tool for the development and implementation of control algorithms in vehicles, a series of tests was carried out on a test bench. Different traction control system (TCS) algorithms were implemented and the results were compared. Full article

Currently, active safety control methods for cars, i.e., the antilock braking system (ABS), the traction control system (TCS), and electronic stability control (ESC), govern the wheel slip control based on the wheel slip ratio, which relies on the information from non-driven wheels. However, these methods are not applicable in the cases without non-driven wheels, e.g., a four-wheel decentralized electric vehicle. Therefore, this paper proposes a new wheel slip control approach based on a novel data fusion method to ensure good traction performance in any driving condition. Firstly, with the proposed data fusion algorithm, the acceleration estimator makes use of the data measured by the sensor installed near the vehicle center of mass (CM) to calculate the reference acceleration of each wheel center. Then, the wheel slip is constrained by controlling the acceleration deviation between the actual wheel and the reference wheel center. By comparison with non-control and model following control (MFC) cases in double lane change tests, the simulation results demonstrate that the proposed control method has significant anti-slip effectiveness and stabilizing control performance. Full article

Conventional engine based vehicles inevitably have complicated structures due to lots of elements. Because of this characteristic, research, development, and also marketing are mainly conducted by the conglomerate, like GM, BMW, Honda, and Hyundai motors, etc. But environmental pollution and fuel exhaustion by the stated vehicle increase the necessity of EV(Electric Vehicle) as a representative of green car. First of all, the structure of EV is relatively simple, and energy transmission ratio of electric motor is more efficient than the engine based power train system. In addition to these, inwheel EV can estimate exact wheel torque, which is the most fundamental information for slip control, such as VDC(Vehicle dynamics control)/TCS(Traction control system)/ABS(Anti-lock brake system). Various kinds of expectable situations during EV’s navigation have been simulated through the coordination between ‘Carsim’ and ‘Simulink’. Full article