This paper describes the unique structure of an intelligent air-cushion system of a hybrid electrical air-cushion track vehicle working on swamp terrain. Fuzzy expert system （FES） is used in this study to control th...This paper describes the unique structure of an intelligent air-cushion system of a hybrid electrical air-cushion track vehicle working on swamp terrain. Fuzzy expert system （FES） is used in this study to control the swamp tracked vehicle＇s intelligent air cushion system while it operates in the swamp peat. The system will be effective to control the intelligent air-cushion system with total power consumption （PC）, cushion clearance height （CCH） and cushion pressure （CP）. Ultrasonic displacement sensor, pull-in solenoid electromagnetic switch, pressure sensor, micro controller and battery pH sensor will be incorporated with the FES to investigate experimentally the PC, CCH and CP. In this study, we provide illustration how FES might play an important role in the prediction of power consumption of the vehicle＇s intelligent air-cushion system. The mean relative error of actual and predicted values from the FES model on total power consumption is found as 10.63 %, which is found to be alomst equal to the acceptable limits of 10%. The goodness of fit of the prediction values from the FES model on PC is found as 0.97.展开更多
The lateral control for lane changing of intelligent vehicle on curved road in automatic highway systems was studied. Based on trapezoidal acceleration profile, considering the curvature difference between starting la...The lateral control for lane changing of intelligent vehicle on curved road in automatic highway systems was studied. Based on trapezoidal acceleration profile, considering the curvature difference between starting lane and target lane, a new virtual trajectory planning method for lane changing on curved road was presented, and the calculating formulas for ideal states of vehicle in the inertial coordinate system during a lane changing maneuver were established. Applying the predetermined trajectory, the reference yaw angle and yaw rate for lane changing were generated. On the assumption that the information on yaw rate of vehicle can be measured with on-board sensors and based on the lateral dynamical model of vehicle, the yaw-rate-tracking control law was designed by applying nonsingular terminal sliding mode technology. Based on Lyapunov function method, the finite-time convergence property of the system was obtained from the phase-plane analysis. Simulation results showed that if the curvature difference between starting lane and target lane was not considered, then at the finishing time of lane changing, it was impossible to avoid the deviation of the virtual trajectory panned from the target lane, which increased with the decrease of curvature radius. With the trajectory planning method and yaw rate-tracking control law proposed in this paper and considering the curvature difference between the starting lane and target lane, the desired virtual trajectory for lane changing without deviation was obtained and the expected tracking performance was also verified by the simulation.展开更多
文摘This paper describes the unique structure of an intelligent air-cushion system of a hybrid electrical air-cushion track vehicle working on swamp terrain. Fuzzy expert system （FES） is used in this study to control the swamp tracked vehicle＇s intelligent air cushion system while it operates in the swamp peat. The system will be effective to control the intelligent air-cushion system with total power consumption （PC）, cushion clearance height （CCH） and cushion pressure （CP）. Ultrasonic displacement sensor, pull-in solenoid electromagnetic switch, pressure sensor, micro controller and battery pH sensor will be incorporated with the FES to investigate experimentally the PC, CCH and CP. In this study, we provide illustration how FES might play an important role in the prediction of power consumption of the vehicle＇s intelligent air-cushion system. The mean relative error of actual and predicted values from the FES model on total power consumption is found as 10.63 %, which is found to be alomst equal to the acceptable limits of 10%. The goodness of fit of the prediction values from the FES model on PC is found as 0.97.
基金supported by the National Natural Science Foundation of China (Grant No. 10772152)the Natural Science Foundation of Shandong Province of China (Grant No. ZR2010FM008)
文摘The lateral control for lane changing of intelligent vehicle on curved road in automatic highway systems was studied. Based on trapezoidal acceleration profile, considering the curvature difference between starting lane and target lane, a new virtual trajectory planning method for lane changing on curved road was presented, and the calculating formulas for ideal states of vehicle in the inertial coordinate system during a lane changing maneuver were established. Applying the predetermined trajectory, the reference yaw angle and yaw rate for lane changing were generated. On the assumption that the information on yaw rate of vehicle can be measured with on-board sensors and based on the lateral dynamical model of vehicle, the yaw-rate-tracking control law was designed by applying nonsingular terminal sliding mode technology. Based on Lyapunov function method, the finite-time convergence property of the system was obtained from the phase-plane analysis. Simulation results showed that if the curvature difference between starting lane and target lane was not considered, then at the finishing time of lane changing, it was impossible to avoid the deviation of the virtual trajectory panned from the target lane, which increased with the decrease of curvature radius. With the trajectory planning method and yaw rate-tracking control law proposed in this paper and considering the curvature difference between the starting lane and target lane, the desired virtual trajectory for lane changing without deviation was obtained and the expected tracking performance was also verified by the simulation.
