Veröffentlichungen des Fachgebiet Fahrzeugtechnik

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Hott, Lukas; Ivanov, Valentin; Augsburg, Klaus; Ricciardi, Vincenzo; Dhaens, Miguel; Al Sakka, Monzer; Praet, Kylian; Vazquez Molina, Joan
Ride blending control for AWD electric vehicle with in-wheel motors and electromagnetic suspension. - In: 2020 IEEE Vehicle Power and Propulsion Conference (VPPC), (2020), insges. 5 S.

This paper presents a controller for enhancing the ride comfort of electric vehicles with in-wheel motors (IWM) and electromagnetic suspensions (AS). The combined use of IWMs and AS to increase the ride comfort is referred to as Ride Blending (RB). The purpose of this integrated control, its general idea and concept are discussed. The Ride Blending controller is based on a multi-layer hierarchical control architecture. To continuously allocate the demand between the actuators, the control makes use of a cost function optimisation where the ideal control parameters for the current time step are defined. The goal of each component of this function is explained and the structure of each one is described. The use of the ride blending control is then demonstrated on various driving manoeuvres to show the functionality and the ride quality improvement.



https://doi.org/10.1109/VPPC49601.2020.9330946
Heydrich, Marius; Ricciardi, Vincenzo; Augsburg, Klaus; Ivanov, Valentin
Robust design of combined control strategy for electric vehicle with in-wheel propulsion. - In: 2020 IEEE Vehicle Power and Propulsion Conference (VPPC), (2020), insges. 6 S.

This paper introduces a control strategy for battery electric Sport Utility Vehicle (SUV) with the rear wheel drive and the decoupled braking system with electro-hydraulic actuation on the front axle and electro-mechanical actuation on the rear axle. The control architecture includes anti-lock braking system (ABS) and traction control (TC) with additional features as the brake blending for improved energy recuperation. The ABS/TC functions are based on the wheel slip controller realized with Proportional-Integral (PI) and Integral Sliding Mode (ISM) strategies, which are benchmarked in the presented study. The control structure also includes modules for estimation of road slope and vehicle mass allocation via Recursive Least Squares (RLS) algorithm.



https://doi.org/10.1109/VPPC49601.2020.9330832
Aksjonov, Andrei; Vodovozov, Valerij; Augsburg, Klaus; Petlenkov, Eduard
Blended antilock braking system control method for all-wheel drive electric sport utility vehicle. - In: ELECTRIMACS 2019, (2020), S. 229-241

At least two different actuators work in cooperation in regenerative braking for electric and hybrid vehicles. Torque blending is an important area, which is responsible for better manoeuvrability, reduced braking distance, improved riding comfort, etc. In this paper, a control method for electric vehicle blended antilock braking system based on fuzzy logic is promoted. The principle prioritizes usage of electric motor actuators to maximize recuperation energy during deceleration process. Moreover, for supreme efficiency it considers the battery's state of charge for switching between electric motor and conventional electrohydraulic brakes. To demonstrate the functionality of the controller under changing dynamic conditions, a hardware-in-the-loop simulation with real electrohydraulic brakes test bed is utilized. In particular, the experiment is designed to exceed the state-of-charge threshold during braking operation, what leads to immediate switch between regenerative and friction brake modes.



https://doi.org/10.1007/978-3-030-37161-6_17
Iyer, Kunal; Shyrokau, Barys; Ivanov, Valentin
Offline and online tyre model reconstruction by locally weighted projection regression. - In: 2020 IEEE 16th International Workshop on Advanced Motion Control (AMC), (2020), S. 311-316

https://doi.org/10.1109/AMC44022.2020.9244310
Hesse, David;
Beitrag zur experimentellen und analytischen Beschreibung partikelförmiger Bremsenemissionen. - Ilmenau : Universitätsbibliothek, 2020. - 1 Online-Ressource (XIII, 171 Blätter)
Technische Universität Ilmenau, Dissertation 2020

Verkehrsbedingte Emissionen stehen derzeit stark in der öffentlichen Kritik, da diese zur Klimaveränderung beitragen und als gesundheitsgefährdend eingestuft werden. Verbrennungsmotorische Emissionen sind derzeit durch Grenzwerte reguliert. Durch den Einsatz effizienter Antriebsaggregate und effizienter Abgasnachbehandlungssysteme sank der Anteil dieser Emissionen am Gesamtfahrzeugausstoß in den vergangenen Jahren kontinuierlich. Für außermotorische Emissionen, zu denen auch partikelförmiger Bremsenabrieb zu zählen ist, existiert derzeit kein gesetzlicher Grenzwert bezüglich emittierter Partikelanzahl und Partikelmasse, was zu einem kontinuierlichen Anstieg des Anteils am Fahrzeuggesamtbudget führte. Da ein Teil der Verschleißpartikel den Größenklassen des Feinstaubes (= 10 [my]m) zugeordnet werden kann, ist diese Feinstaubquelle für die menschliche Gesundheit von besonderer Relevanz und steht damit im Fokus wissenschaftlicher Untersuchungen. Eine zielgerichtete Bewertung setzt effiziente Probenahmesysteme voraus, durch deren Anwendung eine ganzheitliche Analyse von Emissionscharakteristiken sowie der chemischen und physikalischen Eigenschaften unter Laborbedingungen und im realen Fahrversuch möglich wird. Die vorliegende Arbeit stellt einen Beitrag zur Beschreibung der Dynamik partikelförmiger Bremsenemissionen innerhalb eines geschlossenen Probenahmesystems dar. Im Einzelnen sind dies die Partikelinjektion und -verteilung bis hin zur Probenahme oder Abscheidung. Ein weiteres Ziel stellt die Verifizierung der Messfähigkeit der vornehmlich für die Ermittlung verbrennungsmotorischer Abgasemissionen entwickelten Messsysteme für den vorliegenden Anwendungsfall dar. Das übergeordnete Ziel besteht damit in einer ganzheitlichen Bewertung der zur Durchführung regulatorischer Messungen erforderlichen Mess- und Prüftechnik. Den Beginn stellt die Entwicklung einer Methodik zur Analyse des Partikelinjektions- und Abscheideverhaltens dar. Darauf aufbauend werden methodische Ansätze zur experimentellen Validierung vorgestellt. Untersuchungen zur Partikelverteilung und -abscheidung ermöglichen eine allumfassende Bewertung der ablaufenden Vorgänge. Im dritten Teil werden physikalische Messprinzipien zur Bestimmung der Partikelanzahlkonzentration (PAK), Partikelmasse (PM) bzw. -konzentration (PMK) und Größenverteilungsdichte (GVD) hinsichtlich ihrer Anwendbarkeit überprüft. Die Erarbeitung von Messkonzepten ermöglicht die Durchführung vergleichender Untersuchungen zur Bewertung von Einflussgrößen und Emissionsminderungspotenzialen. Den Abschluss bilden Untersuchungen zum Emissionsverhalten an variierenden Prüfumgebungen, vom Schwungmassen-Bremsenprüfstand bis hin zum realen Fahrversuch, was eine ganzheitliche Bewertung der Wechselwirkungen und Zusammenhänge ermöglicht.



https://nbn-resolving.org/urn:nbn:de:gbv:ilm1-2020000613
Alfonso, Jesús; Rodriguez, José Manuel; Salazar, Jean Carlo; Orús, Javier; Schreiber, Viktor; Ivanov, Valentin; Augsburg, Klaus; Molina, Joan Vazquez; Al Sakka, Monzer; Castellanos, José Angel
Distributed simulation and testing for the design of a smart suspension. - In: SAE international journal of connected and automated vehicles, ISSN 2574-075X, Volume 3 (2020), issue 2, Article ID 12-03-02-0011, Seite 129-138

https://doi.org/10.4271/12-03-02-0011
Mamakos, Athanasios; Arndt, Michael; Hesse, David; Hamatschek, Christopher; Augsburg, Klaus
Comparison of particulate matter and number emissions from a floating and a fixed caliper brake system of the same lining formulation. - In: SAE technical papers, ISSN 2688-3627, (2020), SAE technical paper 2020-01-1633, Seite 1-11

The particulate emissions of two brake systems were characterized in a dilution tunnel optimized for PM10 measurements. The larger of them employed a fixed caliper (FXC) and the smaller one a floating caliper (FLC). Both used ECE brake pads of the same lining formulation. Measured properties included gravimetric PM2.5 and PM10, Particle Number (PN) concentrations of both untreated and thermally treated (according to exhaust PN regulation) particles using Condensation Particle Counters (CPCs) having 23 and 10 nm cut-off sizes, and an Optical Particle Sizer (OPS). The brakes were tested over a section (trip-10) novel test cycle developed from the database of the Worldwide harmonized Light-Duty vehicles Test Procedure (WLTP). A series of trip-10 tests were performed starting from unconditioned pads, to characterize the evolution of emissions until their stabilization. Selected tests were also performed over a short version of the Los Angeles City Cycle. PM2.5 emissions of burnished pads averaged at 2.6 mg/km/brake and 4.1 mg/km/brake for the FLC and the FXC system, respectively. A large fraction of the airborne PM was found to be larger than 2.5 [my]m, leading to 2.7 times higher PM10 emissions. Therefore, proper PM10 measurements will require careful considerations on the operating tunnel parameters to minimize particle losses. The FXC system yielded ˜50% higher PM and two times higher PN emissions despite the 22% lower disc temperatures measured with an embedded thermocouple. No indication of volatile particle formation was observed, with more than 80% of total PN having an optical diameter larger than 300 nm. The results illustrate the challenges associated with the use of disc temperature measurements for the control of a representative braking procedure.



https://doi.org/10.4271/2020-01-1633
Agliullin, Timur; Gubaidullin, Robert; Sakhabutdinov, Airat; Morozov, Oleg; Kuznetsov, Artem; Ivanov, Valentin
Addressed fiber bragg structures in load-sensing wheel hub bearings. - In: Sensors, ISSN 1424-8220, Bd. 20 (2020), 21, 6191, insges. 14 S.

The work presents an approach to instrument the load-sensing bearings for automotive applications for estimation of the loads acting on the wheels. The system comprises fiber-optic sensors based on addressed fiber Bragg structures (AFBS) with two symmetrical phase shifts. A mathematical model for load–deformation relation is presented, and the AFBS interrogation principle is described. The simulation includes (i) modeling of vehicle dynamics in a split-mu braking test, during which the longitudinal wheel loads are obtained, (ii) the subsequent estimation of bearing outer ring deformation using a beam model with simply supported boundary conditions, (iii) the conversion of strain into central frequency shift of AFBS, and (iv) modeling of the beating signal at the photodetector. The simulation results show that the estimation error of the longitudinal wheel force from the strain data acquired from a single measurement point was 5.44% with a root-mean-square error of 113.64 N. A prototype load-sensing bearing was instrumented with a single AFBS sensor and mounted in a front right wheel hub of an experimental vehicle. The experimental setup demonstrated comparable results with the simulation during the braking test. The proposed system with load-sensing bearings is aimed at estimation of the loads acting on the wheels, which serve as input parameters for active safety systems, such as automatic braking, adaptive cruise control, or fully automated driving, in order to enhance their effectiveness and the safety of the vehicle.



https://doi.org/10.3390/s20216191
Savitski, Dzmitry; Ivanov, Valentin; Augsburg, Klaus; Shyrokau, Barys; Fujimoto, Hiroshi
Recent advancements in continuous wheel slip control. - In: Advances in dynamics of vehicles on roads and tracks, (2020), S. 1525-1535

The paper presents an overview of continuous wheel slip control (WSC) methods as the part of anti-lock braking system (ABS) for the several vehicles configurations with friction brakes and electric motors. Performance of proposed WSC design variants using several control techniques has been experimentally evaluated for three different test vehicles: Sport Utility Vehicle (SUV) with decoupled electro-hydraulic brake (DEHB) system, SUV with four individual on-board electric motors (OBM), and compact vehicle with four individual in-wheel motors (IWM). Obtained results demonstrated that proposed continuous WSC variants provide a simultaneous effect on braking efficiency and ride quality as well as robust operation in various road conditions. Presented summary provides outlook on future perspectives of the continuous WSC and compares its status with conventional rule-based ABS systems.



Agliullin, Timur; Ivanov, Valentin; Ricciardi, Vincenzo; Acosta Reche, Manuel; Augsburg, Klaus; Sandu, Corina; Shyrokau, Barys; Savitski, Dzmitry
Torque vectoring control on ice for electric vehicles with individually actuated wheels. - In: Advances in dynamics of vehicles on roads and tracks, (2020), S. 1543-1551

Recent studies on torque vectoring control for electric vehicles proposed various efficient solutions demonstrating improvement of vehicle stability for evasive manoeuvres. However, the torque vectoring on very low friction surfaces such as black ice or wet snow is rarely investigated, especially for the electric vehicles with off-road capability. The presented study contributes to this topic by laying the groundwork for further advanced torque vectoring designs. Within the framework of this paper, the target vehicle is a sport utility vehicle equipped with four on-board electric motors controlling each wheel separately. The functionality of the developed controllers is tested under hardware-in-the-loop simulations for icy road conditions. For this purpose, the tyre model has been parameterized and validated based on the experimental data conducted on a unique terramechanics test rig at Virginia Polytechnic Institute and State University. The test results confirm very good functionality of the developed controllers and demonstrate an improvement of the electric vehicle driving performance.