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Journal articles on the topic 'Dynamics of braking'
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1
Dahal, Chiranjivi, Sacheendra Labh, and Prakash Badu. "Analysis of vehicle braking dynamics with hydraulic braking system." Journal of Innovations in Engineering Education 6, no. 1 (2023): 27–33. http://dx.doi.org/10.3126/jiee.v6i1.60641.
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The stopping distance in vehicle is the distance require to safely stop after the driver has applied the brakes of vehicle. The stopping distance varies from road types to experience of driver. The objective of this study is to determine the stopping distance of vehicle for two different road condition: dry asphaltic and wet asphaltic. The methodology includes studying various factors involve in braking dynamics and validating the analytical calculation with Numerical methods. The velocity in which vehicle is travelling, coefficient of friction between road and vehicle tire plays important role in calculation of stopping distance. It was found that during wet season the stopping distance increased from 89 m to 99 m for vehicle travelling at 100 km/hr. The stopping time obtained from simulation in CarSim was 5.1 seconds for dry road and 6.4 seconds for wet road conditions.
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Yan, Yan, Xu Chen, Wenzhe Wang, Peng Hang, Haishan Chen, and Jinbo Liu. "Research on braking dynamics of multi-axle vehicle." Journal of Physics: Conference Series 2246, no. 1 (2022): 012019. http://dx.doi.org/10.1088/1742-6596/2246/1/012019.
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Abstract Braking dynamics is an important part of longitudinal dynamics. Through the analysis of braking performance of multi-axle vehicles, we can deepen our understanding of longitudinal dynamics. Starting from the braking dynamics analysis of the whole vehicle, this paper proposes to establish the braking dynamics model of multi-axle vehicle by using the suspension deformation coordination equation, so as to calculate the general calculation formula of ground reaction force of multi-axle vehicle when braking. The brake force distribution of 4-axle brake is analyzed to verify its rationality and provide basis for multi-axle brake design.
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Wang, Guo Ye, Lu Zhang, Guo Yan Chen, and Zhong Fu Zhang. "EBD Control Research on Bisectional Roads for Electric Vehicles on Energy Regenerative and Feedback Friction Integrated Braking." Applied Mechanics and Materials 229-231 (November 2012): 2327–33. http://dx.doi.org/10.4028/www.scientific.net/amm.229-231.2327.
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Project the integrated braking system for electric vehicles based on in-wheel motor and friction brake. Set up the integrated system dynamic model based on energy regenerative and feedback friction integrated braking. Come up with EBD control strategy on bisectional roads based on ABS system. Establish the dynamics simulation system and EBD control simulation system for the electric vehicles with the integrated braking system based on Matlab/Simulink. Simulate and analyze EBD control performance of the integrated braking system on bisectional road straight condition aimed at Chery A3 sedan. The study results indicate that the EBD control performance of electric vehicle with the integrated braking system has a high braking energy recovery ratio, braking efficiency and braking stability.
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Kulikowski, Krzysztof, and Zbigniew Kamiński. "Methods for improving the dynamic properties of the air braking systems of low-speed agricultural trailers." Archives of Automotive Engineering – Archiwum Motoryzacji 84, no. 2 (2019): 5–22. http://dx.doi.org/10.14669/am.vol84.art1.
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Too low an operating speed of trailer air braking systems may lead to an inhibition of the braking asynchrony of agricultural tractor trailer units. Improved braking dynamics advanced braking systems with an electronic control unit (e.g. Trailer EBS) provide a more rational solution for high speed agricultural vehicles. In this paper, an overview of other methods for developing the dynamic properties of air braking systems for agricultural trailers is described. This paper provides an examples of braking system design parameters optimization, using a variety of accelerating valves and dynamic properties correcting devises, also as well, by using simple systems with an electronic controllers. The described methods of dynamic properties improvements can be used to improve the speed and operation synchrony of the air braking systems of low-speed agricultural trailers. The paper presents the influence of some of the described methods, with different levels of complexity, on the properties of typical air braking systems.
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Anderson, Jeffery R., John Adcox, Beshah Ayalew, Mike Knauff, Tim Rhyne, and Steve Cron. "Interaction of a Slip-Based Antilock Braking System with Tire Torsional Dynamics." Tire Science and Technology 43, no. 3 (2015): 182–94. http://dx.doi.org/10.2346/tire.15.430303.
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ABSTRACT This paper presents simulation and experimental results that outline the interaction between a tire's torsional dynamic properties and antilock braking system (ABS) during a hard braking event. Previous work has shown the importance of the coupled dynamics of the tire's belt, sidewall, and wheel/hub assembly on braking performance for a wheel acceleration-based ABS controller. This work presents findings based on a proprietary slip-based ABS controller. A comprehensive system model including tire torsional dynamics, dynamics of the tread–ground friction (LuGre friction model), and dominant brake system hydraulic dynamics was developed for simulation studies on this slip-based controller. Results from key sensitivity studies of tire torsional parameters are presented along with experimental results obtained on a quarter car braking test rig. In this work, it was found that within a reasonable tire design space (with respect to tire torsional properties), the ABS algorithm tested was extremely robust to changing these parameters. The main conclusion of this result is that when a consumer replaces his or her tires with different (than original equipment) tires, there should be little effect on braking performance.
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Prohnii, Pavlo, Ruslan Chornyi, Olha Chorna, et al. "Research of braking dynamics of a road train." Central Ukrainian Scientific Bulletin. Technical Sciences 2, no. 9(40) (2024): 106–11. http://dx.doi.org/10.32515/2664-262x.2024.9(40).2.106-111.
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The article analyzes the ways to improve the operational properties of road trains, by taking into account changes in the technical condition of various systems under their operating conditions. It has been established that a significant proportion of failures that occur in tractors and trailer links of road trains in operating conditions fall on the braking and running systems, and among the main malfunctions of the braking system, violations of the optimal indicators of regulation and distribution of braking forces along the axles and sides of the road train are most often singled out. The appearance of such failures can significantly affect the stability of road trains and the safety of their use. That is why, during the service inspection of the trailer links of road trains, it is necessary to ensure compliance with the optimal indicators of the distribution of braking forces on the axles and wheels of the vehicle. A method of adjusting the braking forces on the wheels of the towing link is proposed to eliminate the on-board unevenness when it is detected in the process of servicing the braking system of the vehicle. The relationship between the magnitude of the braking moment on the wheel and the arm of applying force from the brake chamber for drum brake mechanisms with a pneumatic drive is given. The method of regulating the braking forces applied to the wheel by changing the gear ratio of the brake mechanism by changing the arm of applying the braking force from the brake chamber to the cam rotation lever is justified. This approach allows you to minimize the unevenness of the braking forces along the sides of the trailer link, which can occur as a result of deviations in the operation of the braking mechanisms, which occurs under the influence of operating conditions, for example, due to uneven wear of the brake linings on individual wheels or the appearance of deviations in the adjustment of the drive of the braking mechanisms.
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Xu, Shiwei, Xiaopeng Zhang, Yuan Jiao, Lulu Wei, Jingjing He, and Xinyu Zeng. "Research on the Multi-Mode Composite Braking Control Strategy of Electric Wheel-Drive Multi-Axle Heavy-Duty Vehicles." World Electric Vehicle Journal 15, no. 3 (2024): 83. http://dx.doi.org/10.3390/wevj15030083.
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Electric wheel-drive multi-axle heavy-duty vehicles have the characteristics of strong maneuverability and good passability, thereby they are widely used in heavy equipment transportation. However, current research on the composite braking of multi-axle heavy-duty vehicles is rare, which is not conducive to improving braking performance and braking energy utilization efficiency. This work proposes a multi-mode composite braking control strategy for the five-axle distributed electric wheel-drive heavy-duty vehicle. Firstly, given the differences in braking dynamics between two-axle vehicles and multi-axle vehicles, the brake dynamics characteristics of multi-axle vehicles are analyzed, and the vehicle dynamics model of multi-axle vehicles is constructed. Next, a multi-mode composite braking control strategy including a fully electric braking state and hybrid electro–hydraulic braking state is proposed in order to improve the braking energy recovery and braking stability. Finally, a hardware-in-the-loop simulation system is established, and the single-braking conditions and China heavy-duty commercial vehicle test cycle-heavy truck (abbreviated as CHTC-HT) are conducted to verify the performance of the braking control strategy. The results indicate that the recaptured braking energy and braking stability are significantly increased by applying the control strategy proposed in this work.
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Xia, Rong-xia, De-hua Wu, Jie He, Ya Liu, and Deng-feng Shi. "A New Model of Stopping Sight Distance of Curve Braking Based on Vehicle Dynamics." Discrete Dynamics in Nature and Society 2016 (2016): 1–8. http://dx.doi.org/10.1155/2016/4260705.
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Compared with straight-line braking, cornering brake has longer braking distance and poorer stability. Therefore, drivers are more prone to making mistakes. The braking process and the dynamics of vehicles in emergency situations on curves were analyzed. A biaxial four-wheel vehicle was simplified to a single model. Considering the braking process, dynamics, force distribution, and stability, a stopping sight distance of the curve braking calculation model was built. Then a driver-vehicle-road simulation platform was built using multibody dynamic software. The vehicle test of brake-in-turn was realized in this platform. The comparison of experimental and calculated values verified the reliability of the computational model. Eventually, the experimental values and calculated values were compared with the stopping sight distance recommended by the Highway Route Design Specification (JTGD20-2006); the current specification of stopping sight distance does not apply to cornering brake sight distance requirements. In this paper, the general values and limits of the curve stopping sight distance are presented.
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Nastasoiu, Mircea, and Nicolae Ispas. "Study on the Dynamic Interaction between Agricultural Tractor and Trailer during Braking Using Lagrange Equation." Applied Mechanics and Materials 659 (October 2014): 515–20. http://dx.doi.org/10.4028/www.scientific.net/amm.659.515.
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The paper elaborates a mathematical model in order to study the dynamics of tractor-trailer systems during braking. The braking dynamics is analyzed by considering two versions for the tractor’s braking system: 1) braking applied on the rear wheels and 2) braking applied on all four wheels. In both versions the trailer is braked on all wheels. This model enables us to determine the evolution of the following parameters: braking deceleration, braking forces, and force at the tractor-trailer hitch point. The authors present applications of the mathematical model elaborated on a tractor-trailer system used for transportation works.
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Guan, Hsin, Chun Guang Duan, and Ping Ping Lu. "Subjective Evaluation of Braking System and Dynamics Analysis." Applied Mechanics and Materials 644-650 (September 2014): 76–80. http://dx.doi.org/10.4028/www.scientific.net/amm.644-650.76.
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Subjective evaluation of the braking based on the people's feelings. When braking, the response of vehicle and the convenience of brake determines the driving safety and comfort. Research major vehicle company's subjective evaluation of braking system, and summarize large numbers of projects into tactile indicators, somatosensory indicators, and braking performance three evaluation projects in accordance with the people's subjective feelings. Through sorting, the loads of evaluation can be reduced when evaluation for subjective driver. To analysis of typical index by dynamics methods to find the reasons of negative phenomena, so provides the design basis of the brake system for meet the subjective feelings.
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Yang, Fan, G. Yan, and S. Rakheja. "Anti-Slosh Effectiveness of Baffles and Braking Performance of a Partly-Filled Tank Truck." Applied Mechanics and Materials 541-542 (March 2014): 674–83. http://dx.doi.org/10.4028/www.scientific.net/amm.541-542.674.
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The liquid cargo movement within a partly-filled tank truck affects its braking, roll dynamics and directional performance in an adverse manner. In this study, the braking performance of a partly-filled tank truck equipped with different baffles designs is investigated considering dynamic fluid-structure interactions. The validity of the computational fluid dynamic model is examined through laboratory tests conducted on a scale model tank with and without baffles. The measured responses to harmonic excitations revealed three-dimensional nature of the fluid motion and couplings between the lateral and longitudinal fluid slosh. Several spectral components were observed for the transient slosh forces, which could be associated with the excitation, resonance, and beat frequencies. A dynamic pitch plane model of a Tridem truck incorporating three-dimensional fluid slosh dynamics is subsequently developed to analyze the fluid-vehicle interactions under straight-line braking maneuvers. The results show that the vehicle responses are highly influenced by the slosh-induced force and moment.
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Wan, Ying, Li Mai, and Zhi Gen Nie. "Dynamic Modeling and Analysis of Tank Vehicle under Braking Situation." Advanced Materials Research 694-697 (May 2013): 176–80. http://dx.doi.org/10.4028/www.scientific.net/amr.694-697.176.
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Considering the instability of the direction dynamics of tank vehicle system under braking maneuver, the longitudinal equivalent model of liquid was formulated with consideration of both the steady-state and the transient state dynamics of the liquid. The Matlab/simulink program of the liquid was built and was combined with the vehicle model in Trucksim software to simulate and analyze the motion of the liquid cargo centroid and its dynamical effects on the vehicle under braking maneuver. It is observed that the liquid cargo slosh motion in tank vehicles has significant influences on braking performance, pitch motion and perpendicular motion of the vehicle. The results of this paper have significant help for studies on dynamics of vehicle tankers under braking maneuver and ensurement of braking stability and security.
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Zhang, Hongyuan, Jiayu Qiao, and Xin Zhang. "Nonlinear Dynamics Analysis of Disc Brake Frictional Vibration." Applied Sciences 12, no. 23 (2022): 12104. http://dx.doi.org/10.3390/app122312104.
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The brake system is a key component to ensuring the safe driving and riding comfort of the vehicle, and the friction between the brake disc and the friction plate is the main source of vibration and noise. Therefore, in order to improve the stability of the braking system and reduce the generation of vibration, a six-degree-of-freedom nonlinear dynamics model was established, and using the Stribeck friction model and related parameters, the dynamic equation was solved by the Runge-Kutta method. The bifurcation diagram, Lyapunov diagram, time domain diagram, frequency spectrum diagram, and phase plane diagram of the brake pad and brake disc during friction braking were obtained, and the vibration characteristics of both under different braking pressure, braking speed, brake pad support stiffness, and brake disc support stiffness were analyzed. The results show that brake pressure is an important factor in triggering nonlinear vibration; increasing the braking speed will increase the amplitude of vibration, but will shorten the time to enter the stable motion state, and increasing the support stiffness brake pad and disc will reduce the amplitude of system vibration.
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Fauzi, Ahmad, Saiful Amri Mazlan, and Hairi Zamzuri. "Modeling and Validation of Quarter Vehicle Traction Model." Applied Mechanics and Materials 554 (June 2014): 489–93. http://dx.doi.org/10.4028/www.scientific.net/amm.554.489.
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This manuscript provides modeling and validation of a quarter car vehicle model to study the wheel dynamics behavior in longitudinal direction. The model is consists of a longitudinal slip model subsystem, a quarter body dynamic and tire subsystems. The quarter vehicle model was then validated using an instrumented experimental vehicle based on the driver input from brake and throttle pedals. Vehicle transient handling dynamic tests known as sudden braking test was performed for the purpose of validation. Several behaviors of the vehicle dynamics were observed during braking maneuvers such as body longitudinal velocity, wheel linear velocity and tire longitudinal slip at a quarter of the vehicle. Comparisons of the experimental results and model responses with sudden braking imposed motions were made. Consequently, the trends between simulation results and experimental data were found almost similar with an acceptable level of error for the application at hand.
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Zhou, Yaoqun, Frank Gauterin, Hans-Joachim Unrau, and Michael Frey. "Experimental Study of Tire-Wheel-Suspension Dynamics in Rolling over Cleat and Abrupt Braking Conditions." Tire Science and Technology 43, no. 1 (2015): 42–71. http://dx.doi.org/10.2346/tire.15.430102.
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ABSTRACT The braking performance of recent vehicles is controlled by the interaction between the antilock braking system (ABS) and the transmitted force between road and tire. Because of tire and suspension elasticity, an abrupt braking or the ABS regulation initiates tire belt and wheel axle oscillations, which lead to a closed loop of acceleration and force transmission in the tire-wheel-suspension assembly in both translational and rotational directions. As a result, the oscillation of wheel slip and wheel load can influence the force transmission potential in the contact patch and thus the braking distance as well. The objective of the presented study is to investigate the influence of the tire-wheel-suspension dynamics on the force transmission potential between tire and road. To obtain acceleration and force dynamics in the tire-wheel-suspension assembly without inducing the influence from other vehicle components, a McPherson suspension was isolated from a real car and adapted to the inner drum test bench at the Karlsruhe Institute of Technology, Institute of Vehicle System Technology. After mounting different tires, measurements were carried out under various driving conditions. First, tire measurements with a measuring hub were done on the test bench to obtain both quasistatic characteristics and dynamic response in rolling over cleat. Second, different tire-wheel-suspension assemblies were driven on the test bench while the wheel brake was initiated by a hydraulic braking system based on a modified ESP control unit. This modified unit allows generation of abrupt braking pressure slopes by a direct control of the valves. The accelerations of different wheel-suspension components and forces in the links were measured. In this article, the experimental study of the dynamics of a run-flat and a standard tire and their respective coupled assembly with the suspension excited by rolling over cleat and abrupt braking is presented. After a description of the experimental setup, the results of tire-wheel-suspension dynamics of two different tires will be analyzed, interpreted, and compared. Furthermore, a simulation model of the tire-wheel-suspension assembly with the FTire model and dynamic models of suspension components will be built up.
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Cruceanu, Cătălin, and Camil Ion Crăciun. "About Longitudinal Dynamics of Classical Passenger Trains during Braking Actions." Applied Mechanics and Materials 378 (August 2013): 74–81. http://dx.doi.org/10.4028/www.scientific.net/amm.378.74.
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There are presented and analyzed specific aspects regarding the main mechanic and pneumatic issues determining the in-train dynamic forces developed during braking actions. Particularities in case of passenger trains are highlighted, with the aim of proving that even in the case of short trains, fitted with UIC type P braking system, longitudinal dynamics can cause significant reactions whose effect cannot be neglected, both in terms of traffic safety and comfort. Numerical examples presented stand for this.
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Choi, Don Bum, Rag-Gyo Jeong, Yongkook Kim, and Jangbom Chai. "Comparisons Between Braking Experiments and Longitudinal Train Dynamics Using Friction Coefficient and Braking Pressure Modeling in a Freight Train." Open Transportation Journal 14, no. 1 (2020): 154–63. http://dx.doi.org/10.2174/1874447802014010154.
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Background: This paper describes the predictions and validation of the pneumatic emergency braking performance of a freight train consisting of a locomotive and 20 wagons, generally operated in Korea. It suggests the possibility of replacing the expensive and time-consuming train running tests with longitudinal train dynamic simulations. Methods: The simulation of longitudinal train dynamics of a freight train uses the time integration method of EN 14531. For reasonable simulation results, the characteristics of the train and brake equipment must be considered. For the train characteristics, specifications provided by the vehicle manufacturer are used. The braking characteristics are analyzed by friction coefficient tests and a braking pressure model. The friction coefficients of a locomotive and wagons are tested with a dynamo test bench and statistically expanded to account for variability. Freight trains should take into account the braking delay time. To reflect this in the simulation, the brake cylinder pressure pattern model uses pressures and exponential empirical equations measured at selective positions in a train of 50 vehicles. The simulation results are validated in comparison with those of the braking tests of a freight train consisting of 1 locomotive and 20 wagons. Results: The results of the longitudinal dynamics simulation show very similar results to the running test results based on the speed profile and braking distance. Conclusion: In particular, the statistical expansion method of the friction coefficient enables robust prediction of the distribution of the braking distance. The simulation can reduce or make up for costly and time-consuming repeated braking tests and reduce the risks that may arise during testing.
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Zhang, Mingtao, Congjin Shi, Kun Wang, et al. "Optimization Study of Pneumatic–Electric Combined Braking Strategy for 30,000-ton Heavy-Haul Trains." Actuators 14, no. 1 (2025): 40. https://doi.org/10.3390/act14010040.
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The normalized operation of 30,000-ton heavy-haul trains is of significant importance for enhancing the transportation capacity of heavy-haul railways. However, with the increase in train formation size, traditional braking strategies result in excessive longitudinal impulse when combined pneumatic and electric braking is applied on long, steep gradients. This presents a serious challenge to the braking safety of the train. To this end, this paper establishes a longitudinal dynamic model of a 30,000-ton heavy-haul train based on vehicle system dynamics theory, and validates the model’s effectiveness through line test data. On this basis, the influence of two braking parameters, namely, the distribution of the magnitude of the electric braking force and the matching time of pneumatic braking and electric braking, on the longitudinal dynamic behavior of heavy-haul trains is studied. Thereby, an optimized combined pneumatic and electric braking strategy is formulated to reduce the longitudinal impulse of the trains. The results show that setting reasonable braking parameters can effectively reduce the longitudinal impulse, with the braking matching time having a significant impact on the longitudinal impulse. Specifically, when using a strategy where the electric braking forces of three locomotives are set to 90 kN, 300 kN, and 300 kN, with a 30 s delay in applying the electric braking force, a better optimization effect is achieved. The two proposed braking strategies reduce the maximum longitudinal forces by 20.27% and 47.83%, respectively, compared to conventional approaches. The research results provide effective methods and theoretical guidance for optimizing the braking strategy and ensuring the operational safety of 30,000-ton heavy-haul trains.
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Di Loreto, C., J. Dutschke, M. Forrest, et al. "Head dynamics during emergency braking events." Computer Methods in Biomechanics and Biomedical Engineering 22, sup1 (2019): S224—S226. http://dx.doi.org/10.1080/10255842.2020.1714249.
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Prohnii, Pavlo, Danylo Popovych, Olha Chorna, et al. "Research of braking dynamics of a road train." Central Ukrainian Scientific Bulletin. Technical Sciences 2, no. 9(40) (2024): 136–45. http://dx.doi.org/10.32515/2664-262x.2024.9(40).2.136-145.
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The article analyzes the dynamic characteristics of the braking process of a two-link road train during straight and curvilinear movement. It has been proven that the greatest indicator of the efficiency of the braking process of a road train is observed during full loading of all axles, that is, when all wheels are on the verge of blocking at the same time, and the stability of the movement of the road train in the braking mode depends on the proportionality of the braking forces to the value of the normal reactions on each wheel and the nature of the interaction of the links in the support-coupling device. Dependencies for calculating the value of the normal reactions acting on the wheels of the vehicle have been obtained. It was established that when the weight of the semi-trailer changes, the largest additional load occurs on the axle of the semi-trailer, the smallest - on the front axle of the tractor. During braking in the process of straight-line movement, with increased braking intensity, the load on the rear axle of the tractor, as well as the axles of the semi-trailer, is reduced by increasing the load on the front axle of the tractor. It should be noted that simultaneously with the unloading of the axles of the semi-trailer, there is an increase in the load on the support-coupling device of the vehicle, which, in turn, results in an increase in the load on the axles of the tractor. Braking dynamics of a road train in curvilinear movement shows that an increase in the intensity of braking is accompanied by a redistribution of the values of normal support reactions and additional loading of the front axle of the tractor. At the same time, a larger value of the normal reaction is characteristic of the wheels located on the outer circle relative to the center of rotation. This effect is explained by the influence of centrifugal forces. The maximum value of lateral deviation of normal support reactions is observed on the rear axle of the tractor.
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Mellace, C., A. P. Lai, A. Gugliotta, N. Bosso, T. Sinokrot, and A. A. Shabana. "Experimental and numerical investigation of railroad vehicle braking dynamics." Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics 223, no. 3 (2009): 255–67. http://dx.doi.org/10.1243/14644193jmbd129.
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One of the important issues associated with the use of trajectory coordinates in railroad vehicle dynamic algorithms is the ability of such coordinates to deal with braking and traction scenarios. In these algorithms, track coordinate systems that travel with constant speeds are introduced. As a result of using a prescribed motion for these track coordinate systems, the simulation of braking and/or traction scenarios becomes difficult or even impossible. The assumption of the prescribed motion of the track coordinate systems can be relaxed, thereby allowing the trajectory coordinates to be effectively used in modelling braking and traction dynamics. One of the objectives of this investigation is to demonstrate that by using track coordinate systems that can have an arbitrary motion, the trajectory coordinates can be used as the basis for developing computer algorithms for modelling braking and traction conditions. To this end, a set of six generalized trajectory coordinates is used to define the configuration of each rigid body in the railroad vehicle system. This set of coordinates consists of an arc length that represents the distance travelled by the body, and five relative coordinates that define the configuration of the body with respect to its track coordinate system. The independent non-linear state equations of motion associated with the trajectory coordinates are identified and integrated forward in time in order to determine the trajectory coordinates and velocities. The results obtained in this study show that when the track coordinate systems are allowed to have an arbitrary motion, the resulting set of trajectory coordinates can be used effectively in the study of braking and traction conditions. The results obtained using the trajectory coordinates are compared with the results obtained using the absolute Cartesian-coordinate-based formulations, which allow modelling braking and traction dynamics. In addition to this numerical validation of the trajectory coordinate formulation in braking scenarios, an experimental validation is also conducted using a roller test rig. The comparison presented in this study shows a good agreement between the obtained experimental and numerical results.
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Güleryüz, İbrahim Can, and Özgün Başer. "Modelling the longitudinal braking dynamics for heavy-duty vehicles." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 235, no. 10-11 (2021): 2802–17. http://dx.doi.org/10.1177/09544070211004508.
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This paper establishes a reliable heavy-duty braking system model that can be used for response time prediction and for vehicle braking calculations regarding the legislative requirements. For the response time prediction, a pneumatic system model of a heavy-duty vehicle is constructed by Matlab Simulink in consideration of service brake layout. To ensure the accuracy of system parameters related with pneumatic system response time experiments are conducted on two different 4 × 4 heavy-duty vehicles. The numerically calculated response time results are validated with experimental data. To improve the response time of the vehicle, design modifications are conducted on the pneumatic brake system properties. To check the compliance of the pneumatic brake system design with legislative requirements of UN Regulation 13, heavy-duty vehicle brake system (HVBS) model is developed by using Matlab Simulink. HVBS model is composed of longitudinal vehicle and wheel dynamics, Magic Formula tyre model, wheel slip and the experimentally verified heavy-duty pneumatic system model. The braking performance analyses are conducted by using HVBS model to compare the design alternatives in accordance with the legal requirements in terms of service braking and secondary braking conditions.
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Koch, Andreas, Jonas Brauer, and Jens Falkenstein. "Drivability Optimization of Electric Vehicle Drivetrains for Brake Blending Maneuvers." World Electric Vehicle Journal 13, no. 11 (2022): 209. http://dx.doi.org/10.3390/wevj13110209.
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Electric vehicle drivetrains are considered a way to reduce greenhouse gas emissions from road traffic. The use of electric drives in automotive vehicles offers advantages, such as the potential to recover energy during braking (regenerative braking). The limitation of the maximum air gap torque of the vehicle drive machine by several factors requires a temporary standalone or simultaneous use of the conventional vehicle wheel brake. In several studies, it is shown that during braking operations, the drive machine and the vehicle wheel brake can induce torsional oscillations in the drivetrain, which have a negative influence on the driving comfort and lead to a high mechanical load. To reduce these oscillations, the simultaneous use of an active anti-jerk control is necessary. Due to the problem of oscillation excitations caused by a brake intervention, the used drivability function (integrated prefilter, anti-jerk control) is investigated and optimized with regard to brake blending maneuvers and the effectiveness for damping torsional oscillations. Therefore, the dynamics of the drivetrain are adapted to the dynamics of the braking system using the prefilter, which leads to precise fulfilment of the driver’s braking desire, even during dynamic brake blending maneuvers. All investigations are carried out with a hardware-in-the-loop test bench to create reproducible results.
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Wang, Neng Jian, Li Jie Zhou, Qiang Song, and De Fu Zhang. "Simulation Research on Braking Safety Properties of Aircraft Traction System." Key Engineering Materials 419-420 (October 2009): 705–8. http://dx.doi.org/10.4028/www.scientific.net/kem.419-420.705.
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The jack-knifing tendency of aircraft traction system during braking was discussed and analyzed using multi-body dynamics models that consist of aircraft-towing tractor, aircraft draw link and aircraft. The braking critical conditions of the aircraft traction system for straight-line braking and turning braking were discussed and analyzed respectively. In the case of straight-line braking, the effect of friction coefficient on the maximum braking torque is described. In the case of turning braking, the relationship between the maximum baking torque and relative angle is obtained.
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Tavares, J. M. "Dynamics of braking vehicles: from Coulomb friction to anti-lock braking systems." European Journal of Physics 30, no. 4 (2009): 697–704. http://dx.doi.org/10.1088/0143-0807/30/4/004.
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He, Ren, Jian Bo Yu, and Run Cai Wang. "Optimization of Control Parameters with Switching Operation Mode on Hybrid Brake System for Electric Vehicles." Applied Mechanics and Materials 214 (November 2012): 213–18. http://dx.doi.org/10.4028/www.scientific.net/amm.214.213.
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The safe area of braking force distribution was established theoretically by analyzing braking dynamics and the ECE R13 rules for hybrid braking system on electric vehicles. In the safe area, aiming for maximum of braking energy recovery, based on the precondition of ECE R13 and braking stability, an optimized method of motor regenerative braking force and friction braking force distribution was put forward for hybrid braking system, in which the distribution of friction braking force applied to the front and rear axle are fixed. Taking the coordinate of point with switching operation mode and rake ratio of braking force distribution as optimization target, new model of braking control strategy was set up in ADVISOR2002 and simulation was carried out, at last the optimization method was verified.
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Yang, Yang, Guangzheng Li, and Quanrang Zhang. "A Pressure-Coordinated Control for Vehicle Electro-Hydraulic Braking Systems." Energies 11, no. 9 (2018): 2336. http://dx.doi.org/10.3390/en11092336.
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The characteristics of electro-hydraulic braking systems have a direct influence on the fuel consumption, emissions, brake safety, and ride comfort of hybrid electric vehicles. In order to realize efficient energy recovery for ensuring braking safety and considering that the existing electro-hydraulic braking pressure control systems have control complexity disadvantages and functional limitations, this study considers the front and rear dual-motor-driven hybrid electric vehicle as the prototype and based on antilock brake system (ABS) hardware, proposes a new braking pressure coordinated control system with electro-hydraulic braking function and developed a corresponding control strategy in order to realize efficient energy recovery and ensure braking safety, while considering the disadvantages of control complexity and functional limitations of existing electro-hydraulic system. The system satisfies the pressure coordinated control requirements of conventional braking, regenerative braking, and ABS braking. The vehicle dynamics model based on braking control strategy and pressure coordinated control system is established, and thereafter, the performance simulation of the vehicle-based pressure coordinated control system under typical braking conditions is carried out to validate the performance of the proposed system and control strategy. The simulation results show that the braking energy recovery rates under three different conditions—variable braking intensity, constant braking intensity and integrated braking model—are 66%, 55% and 47%. The battery state of charge (SOC) recovery rates are 0.37%, 0.31% and 0.36%. This proves that the motor can recover the reduced energy of the vehicle during braking and provide an appropriate braking force. It realizes the ABS control function and has good dynamic response and braking pressure control accuracy. The simulation results illustrate the effectiveness and feasibility of the program which lays the foundation for further design and optimization of the new regenerative braking system.
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Peng, Tao, Zhi Peng Li, Chang Shu Zhan, Xiang Luo, and Qian Wang. "Study on the Dynamics on the Brake of Vehicle after the Effects of Deicing Salt." Applied Mechanics and Materials 26-28 (June 2010): 862–69. http://dx.doi.org/10.4028/www.scientific.net/amm.26-28.862.
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Through analyzing the process of brake, a dynamic model of automobile and a model of the relationship between braking distance and adhesion coefficient were formed; also a simulation calculating model of braking distance was established with the use of Matlab. Finally, a research was done toward the braking distance of a type of a car running on a road after using snow-melting agent. On one hand, with the application of the simulation model which has been established, calculations have been done to the braking distance of Bora vehicles running on roads after using deicing salt; on the other hand, by experiments, Bora vehicles’ braking distance and maximum braking deceleration under the same road condition were measured, meanwhile, the established simulation model was verified.
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Li, Xuefei, Jian Li, Lida Su, and Yue Cao. "Control Methods for Roll Instability of Articulated Steering Vehicles." Mathematical Problems in Engineering 2016 (2016): 1–14. http://dx.doi.org/10.1155/2016/8041816.
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This study examines the control methods for roll instability of articulated steering vehicles (ASVs) by taking wheel loaders as the research object. An eight-degrees-of-freedom nonlinear dynamics model of ASVs was built on the basis of multibody dynamics. Three methods, namely, active braking (the front and rear axles have the same braking torque), active steering, and adjusting the swing bridge (applying a control torque between the rear body and rear axle), were adopted to analyze the effects on the roll stability of ASVs through the dynamic model. The results show that active braking is conducive to the roll stability of ASVs during turning, active steering can improve the roll stability of ASVs during turning and passing over obstacles, and adjusting the swing bridge can improve the roll stability of ASVs by changing the vehicle posture and the position of the gravity center.
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Liu, Jingang, Lei Bu, Bing Fu, et al. "Research on Adaptive Distribution Control Strategy of Braking Force for Pure Electric Vehicles." Processes 11, no. 4 (2023): 1152. http://dx.doi.org/10.3390/pr11041152.
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The actual driving conditions of electric vehicles (EVs) are complex and changeable. Limited by road adhesion conditions, it is necessary to give priority to ensuring safety, taking into account the energy recovery ratio of the vehicle during braking to obtain better braking quality. In this work, an electric vehicle with an EHB (electro-hydraulic braking) system whose braking force adaptive distribution control strategy is studied. Firstly, the vehicle dynamics model, including seven degrees of freedom, tire, drive motor, main reducer, battery pack, and braking system, was constructed, which is attributed to the vehicle configuration and braking system scheme. Second, based on curve I and ECE regulations, the adaptive braking force distribution control strategy was formulated by taking the maximum regenerative braking torque as the inflection point, the synchronous adhesion coefficient as the desired point, and the battery SOC, road adhesion coefficient, and braking strength as the threshold. Finally, the vehicle dynamics simulation model was built on the Matlab/Simulink platform, and the simulation results verified the feasibility of the proposed braking force adaptive allocation control strategy. The research shows that the adaptive distribution control strategy can better adapt to the complex and variable driving conditions of the vehicle by combining the inflection point and the desired point. The braking energy recovery ratios of the vehicle under the NEDC and NYCC cycle conditions on a high adhesion road are 52.62% and 47.45%. The braking force distribution curve is close to curve I under the low adhesion extreme road.
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Zhou, Shu Wen, Si Qi Zhang, and Guang Yao Zhao. "Stability Control on Tractor Semi-Trailer during Split-Mu Braking." Advanced Materials Research 230-232 (May 2011): 549–53. http://dx.doi.org/10.4028/www.scientific.net/amr.230-232.549.
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Handling behaviour of articulated vehicles combination is more complex and less predictable than that of non-articulated vehicles. It is usually difficult for drivers to maneuver a tractor semi-trailer during high speed emergency braking on split-mu road surface. Braking on this type of road surface, the conventional anti-lock braking systems will cause the vehicle deviate from the desired direction, or overmuch stopping distance. In this paper, a 3-dof of tractor semi-trailer model was used to produce desired yaw rates which were compared with actual yaw rates. An active front steering control and four-channel ABS were integrated to improve the tractor semi-trailer lateral stability while braking on split-mu road surface, which will produce maximum braking force. A full function tractor semi-trailer model was built and assembled in multi-body dynamics software, and the dynamic analysis was performed on split-mu road surface. The simulation results show that the integrated system can improve the tractor semi-trailer lateral stability under braking on split-mu road surface.
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Tung, Nguyen Thanh. "Setting up the braking force measurement system of the tractor semi-trailer." Engineering Solid Mechanics 9, no. 4 (2021): 415–24. http://dx.doi.org/10.5267/j.esm.2021.6.001.
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The braking force of the tractor semi-trailer depends on many random factors and road parameters. Therefore, determining the braking force based on theoretical calculation or simulation is not accurate. This paper presents the method of setting up the braking force measurement system of the tractor semi-trailer on the road and constructing the braking dynamics model of the tractor semi-trailer to investigate the braking force using Matlab-Simulink software. The study results show that the average error between the simulation and experimental results of the tractor semi-trailer braking force is 9,81%.
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Liu, Yu, Jie Hao, Panli Kang, et al. "Research on dynamic characteristics of compensation mechanism for large-power wind turbine disc brake." Multidiscipline Modeling in Materials and Structures 16, no. 3 (2020): 595–605. http://dx.doi.org/10.1108/mmms-03-2019-0056.
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Purpose The purpose of this paper is to establish a rigid–flexible coupling model of wind turbine disc brake to simulate the actual working condition of the wind turbine brake and to study the dynamic characteristics of the compensation mechanism under different friction coefficients and braking force. It provides reference for the structure design and optimization of the compensation mechanism (compensation brake wear) in the wind turbine brake. Design/methodology/approach Based on multi-body contact dynamics theory, the rigid‒flexible coupling dynamic model of wind turbine brakes with compensation mechanism is established, in which the contact process of the components in the compensation mechanism and the phenomenon of rotation and return are described dynamically, and the rotation angle of the compensation nut and the axial displacement response of the compensation screw are calculated under different parameters. Findings The analysis results show that the braking reliability of the brake compensation mechanism can be effectively improved by increasing the friction coefficient of threads or increasing the friction of push rod contact surface; increasing the braking force can also improve the reliability of brake compensation mechanism, but when the braking force comes over a critical value, the effect of braking force on the reliability of the brake is very small. The braking test verifies the effectiveness of the simulation results. Originality/value Analyzing the influence of compensation mechanism on braking reliability in the braking process is of great practical significance for improving the braking efficiency and process safety of wind turbine brake.
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Meléndez-Useros, Miguel, Manuel Jiménez-Salas, Fernando Viadero-Monasterio, and Beatriz López Boada. "Tire Slip H∞ Control for Optimal Braking Depending on Road Condition." Sensors 23, no. 3 (2023): 1417. http://dx.doi.org/10.3390/s23031417.
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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∞ 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.
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Fu, Chuan Qi, Zhou Wang, Bin Li, and Chi Yu. "The Dynamics Simulation of Braking Process on Automobile Disc Brake." Advanced Materials Research 139-141 (October 2010): 2658–61. http://dx.doi.org/10.4028/www.scientific.net/amr.139-141.2658.
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For a certain type of automobile disc brakes, brake discs and friction linings were modeled by Pro/E. The dynamics simulations of braking process on disc brake were performed by the frictional contact algorithm and nonlinear finite element method. Distribution of stress, strain and displacement on the brake parts were investigated with different initial velocity. Analysis results shown that redistributions of stress and strain had occurred on the face of brake disc and friction linings in braking process. Meanwhile, the increased initial velocity resulted in increased stress and stain. Besides the stress concentrations appeared in brake disc role and friction lining corners at the beginning of braking, however, stress and stain became uniform along the braking. Analysis results provided the research of the optimum design and testing of disc brake with theoretic gist. And some improvement measures to the structure of disc brake were proposed.
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Sharizli, Airul, Rahizar Ramli, Mohamed Rehan Karim, and Ahmad Saifizul Abdullah. "Simulation and Analysis on the Effect of Gross Vehicle Weight on Braking Distance of Heavy Vehicle." Applied Mechanics and Materials 564 (June 2014): 77–82. http://dx.doi.org/10.4028/www.scientific.net/amm.564.77.
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Increasing number of fatalities caused by road accidents involving heavy vehicles every year has raised the level of concern and awareness on road safety situation in developing countries like Malaysia. This study attempts to explore the influences of vehicle dynamics characteristics such as vehicle weight and travel speed on its safety braking distance. This study uses a kind of complex virtual prototyping software to simulate vehicle dynamics and its braking performance characteristics. The software was used to generate braking distance data for various vehicle types under various loads and speed condition. The generated data was grouped according to GVW and then analyzed by two-way ANOVA to evaluate its relationship to braking distance. The finding of this study implies that the speed and GVW of various vehicle classifications has a significant effect to the heavy vehicle braking distance.
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Marienka, Peter, Marcel Frančák, and Juraj Jagelčák. "Evaluation of Bulk Cargo Dynamics in the ACTS Intermodal Container." Naše more 68, no. 1 (2021): 14–27. http://dx.doi.org/10.17818/nm/2021/1.2.
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To ensure safety during transport within the intermodal chain, it is important to identify possible dynamic events that could affect the cargo. In the case of bulk cargo in an ACTS (Abroll-Container-Transport-System) container, the dynamics of the cargo and the vehicle vary during normal events such as braking, steering, evasive maneuver and the like. In this research, we used MEMS (Micro-Electro-Mechanical Systems) sensors to identify the parameters of acceleration at various points of container and to evaluate its impact on the cargo and vehicle. During the research, we also found out how the load of individual axles of the vehicle changed after performing normal dynamic events. One of the objectives was also to find out how parameters such as braking distance, braking time and mean fully developed deceleration (MFDD) change in the case of and empty and loaded ACTS container, as well as correlation analysis of values gathered from sensors placed on different parts of the container. The acquired knowledge can be used in the distribution and securing the cargo.
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Li, L., J. Song, H.-Z. Li, D.-S. Shan, L. Kong, and C. C. Yang. "Comprehensive prediction method of road friction for vehicle dynamics control." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 223, no. 8 (2009): 987–1002. http://dx.doi.org/10.1243/09544070jauto1168.
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The contact friction characteristic between a tyre and the road is a key factor that dominates the dynamics performance of a vehicle under critical conditions. Vehicle dynamics control systems, such as anti-lock braking systems, traction control systems, and electronic stability control systems (e.g. Elektronisches Stabilitäts Programm (ESP)), need an accurate road friction coefficient to adjust the control mode. No time delay in the estimation of road friction should be allowed, thereby avoiding the disappearance of the optimal control point. A comprehensive method to predict the road friction is suggested on the basis of the sensor fusion method, which is suitable for variations in the vehicle dynamics characteristics and the control modes. The multi-sensor signal fusion method is used to predict the road friction coefficient for a steering manoeuvre without braking; if active braking is involved, simplified models of the braking pressure and tyre force are adopted to predict the road friction coefficient and, when high-intensity braking is being considered, the neural network based on the optimal distribution method of the decay power is applied to predict the road friction coefficient. The method is validated through a ground test under complicated manoeuvre conditions. It was verified that the comprehensive method predicts the road friction coefficient promptly and accurately.
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Padovan, J., and P. Padovan. "Modeling Tire Performance During Antilock Braking." Tire Science and Technology 22, no. 3 (1994): 182–204. http://dx.doi.org/10.2346/1.2139541.
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Abstract This paper develops an analytical-numerical model of antilock braking system (ABS) cycles, vehicle slowdown dynamics and their concomitant influence on tire tread lug wear. Overall, the model handles the effects of tire slip-friction behavior, brake-slip behavior, vehicle slowdown dynamics including lift and drag, ABS cycling, tire wheel rotation and vibration dynamics, and local tread level thermomechanical-chemical degradation “shear off” of the surface rubber. The results of several benchmark studies are also presented. These demonstrate potential tire wear characteristics under ABS.
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Le, Minh, and Toan Nguyen Van. "Research Effectiveness of Regeneral Brake Energy on Toyota Prius Vehicles by Matlab/Simulink." Engineering Innovations 6 (June 21, 2023): 23–29. http://dx.doi.org/10.4028/p-6s83p4.
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Regenerative brake control creates an optimal synergy between mechanical and electrical braking. Based on the study of vehicle dynamics under braking conditions propose a new control mode that ensures the best braking performance and maximum braking energy recovery. The implementation of the above control mode requires a combination of the traction control model and the brake control system. The HEV power distribution model is built using Matlab/ Simulink and the simulation results have shown a significant improvement in fuel consumption when using the regenerative braking system.
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Bayar, Kerem. "Performance comparison of electric-vehicle drivetrain architectures from a vehicle dynamics perspective." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 234, no. 4 (2019): 915–35. http://dx.doi.org/10.1177/0954407019867491.
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Recent electric vehicle studies in literature utilize electric motors within an anti-lock braking system, traction-control system, and/or vehicle-stability controller scheme. Electric motors are used as hub motors, on-board motors, or axle motors prior to the differential. This has led to the need for comparing these different drivetrain architectures with each other from a vehicle dynamics standpoint. With this background in place, using MATLAB simulations, these three drivetrain architectures are compared with each other in this study. In anti-lock braking system and vehicle-stability controller simulations, different control approaches are utilized to blend the electric motor torque with hydraulic brake torque; motor ABS, torque decomposition, and optimal slip-tracking control strategies. The results for the anti-lock braking system simulations can be summarized as follows: (1) Motor ABS strategy improves the stopping distance compared to the standard anti-lock braking system. (2) In case the motors are not solely capable of providing the required braking torque, torque decomposition strategy becomes a good solution. (3) Optimal slip-tracking control strategy improves the stopping distance remarkably compared to the standard anti-lock braking system, motor anti-lock braking system, and torque decomposition strategies for all architectures. The vehicle-stability controller simulation results can be summarized as follows: (1) higher affective wheel inertia of the on-board and hub motor architecture dictates a higher need of wheel torque in order to generate the tire force required for the desired yaw rate tracking. A higher level of torque causes a higher level of tire slip. (2) Optimal slip-tracking control strategy reduces the tire slip trends drastically and distributes the traction/braking action to each tire with the control-allocation algorithm specifying the reference slip values. This reduces reference tire slip-tracking error and reduces vehicle sideslip angle. (3) Tire slip trends are lower with the hub motor architecture, compared to the other architectures, due to more precise slip control.
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Fu, Long Fei, Yu Ren Li, Guang Lai Tian, Bo Liang, and Hong Ling Wang. "Slid Mode VSC for Aircraft Anti-Skid Braking System with Index Reaching Law." Applied Mechanics and Materials 336-338 (July 2013): 973–77. http://dx.doi.org/10.4028/www.scientific.net/amm.336-338.973.
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Aircraft anti-skid braking system providing protection for the safety of the aircraft landed by controlling the brake pressure to be maintained slip ratio in best condition. The aircraft anti-skid braking system is hard to control as the nonlinear model of the aircraft dynamics, the uncertainty of friction between the tires and the ground of braking process. With the study of slip ratio and research of aircraft anti-skid braking system dynamics model, the sliding mode variable structure controller is designed. Then index reaching law is adopted to eliminate the system chattering and the performance is analyzed, further more the robustness is strengthen. Simulation results indicate that: the slip ratio follows the optimum slip ratio, the input signal is smooth, achieve the purpose.
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Meijaard, J. P., and A. A. Popov. "Practical stability analysis for transient system dynamics." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 222, no. 11 (2008): 2123–35. http://dx.doi.org/10.1243/09544062jmes889.
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The stability of multi-body systems in transient conditions, such as vehicles under braking, is considered. Stability in this case is not univocal, because according to the widely used classical definitions of Lyapunov and Malkin, nearly all motions taking place over a finite time are stable. Here, the use of the concept of practical stability is proposed, which is concerned with a limited growth of perturbations expected to be present in a real system. A viable calculation procedure for applying this concept to multi-body systems is proposed, in which the equations of motion and their linearizations are generated and analysed in a symbolic program, AutoSim. Applications are made to the acceleration of a non-linear Jeffcott rotor through its critical speed and the braking of a motorcycle. The rotor remains stable, provided that the acceleration is sufficiently large and the mass eccentricity sufficiently small. For the motorcycle, braking mainly enhances the wobble mode, whereas locking of the rear wheel may lead to a fall.
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Oprea, Razvan Andrei, Catalin Cruceanu, and Marius Adrian Spiroiu. "Alternative friction models for braking train dynamics." Vehicle System Dynamics 51, no. 3 (2013): 460–80. http://dx.doi.org/10.1080/00423114.2012.744459.
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Simon, Scott I. "Clocking Leukocytes Reveal Dynamics of Integrin Braking." Biophysical Journal 105, no. 5 (2013): 1091–92. http://dx.doi.org/10.1016/j.bpj.2013.07.030.
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Bhatti, Farkhunda, Kamran Kazi, and Farhan Zafar. "Dynamic Modeling and Control of Antilock Braking System for Four Wheel Vehicles." Journal of Applied Engineering & Technology (JAET) 6, no. 2 (2022): 9–19. http://dx.doi.org/10.55447/jaet.06.02.69.
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Nonlinear dynamics of longitudinal and lateral traction of ground vehicles has been investigated in this work and later on used these dynamics on usefulness of brake steer system which uses differential brakes for small steering interventions to keep the vehicle on line. A controller design for Antilock braking (ABS) of a four wheel vehicle whose two rear wheels are braking and front wheels are non-braking is proposed. The major part of our work is tuning to the suitable braking force for two rear wheels and minimizing the stopping distance in short time while front wheels are not braking then finding steer of vehicle by applying different forces on rear right and rear left wheels. These two different forces produce rotational torque in vehicle . These are known as differential brakes which are commonly used to steer the vehicle and its lateral position. Stability has been discussed. Both lateral and longitudinal control motion of the vehicle are simulated. The proposed control scheme is successfully tested in MATLAB simulation.
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Adcox, John, Beshah Ayalew, Tim Rhyne, Steve Cron, and Mike Knauff. "Interaction of Anti-lock Braking Systems with Tire Torsional Dynamics." Tire Science and Technology 40, no. 3 (2012): 171–85. http://dx.doi.org/10.2346/tire.12.400301.
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ABSTRACT A tire's torsional dynamics couple the responses of wheel/hub inertia to that of the ring/belt inertia. Depending on the effective stiffness, damping, and mass distribution of the tire, the ensuing deflections between the wheel and the ring can cause significant errors in the estimation of the tire's longitudinal slip from wheel speed measurements. However, this remains the established approach for constructing anti-lock braking system (ABS) control algorithms. Under aggressive braking events, the errors introduced by torsional dynamics may significantly affect the ABS algorithm and result in less than optimal braking performance. This article investigates the interaction of tire torsional dynamics and ABS control using a comprehensive system model that incorporates sidewall flexibility, transient and hysteretic tread-ground friction effects, and the dominant dynamics of a hydraulic braking system. It considers a wheel/hub acceleration-based ABS controller that mimics the working steps of a commercial ABS algorithm. Results from multiple sensitivity studies show a strong correlation of stopping distances and ABS control activity with design parameters governing tire/wheel torsional response and the filter cutoff frequency of the wheel acceleration signals used by the controller.
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de Abreu, Ricardo, Theunis R. Botha, and Herman A. Hamersma. "Model-free Intelligent Control for Antilock Braking Systems on Rough Terrain." MATEC Web of Conferences 347 (2021): 00018. http://dx.doi.org/10.1051/matecconf/202134700018.
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Advancements have been made in the field of vehicle dynamics, improving the handling and safety of the vehicle through control systems such as the Antilock Braking System (ABS). An ABS enhances the braking performance and steerability of a vehicle under severe braking conditions by preventing wheel lockup. However, its performance degrades on rough terrain resulting in an increased wheel lockup and stopping distance compared to without. This is largely as a result of noisy measurements, and un-modelled dynamics that occur as a result of the vertical and torsional excitation experienced over rough terrain. Therefore, it is proposed that a model-free intelligent technique, which may adapt to these dynamics, be used to overcome this problem. The Double Deep Q-learning (DDQN) technique in conjunction with a Temporal Convolutional Network (TCN) is proposed as the intelligent control algorithm, and straight line braking simulations are performed using a single tyre model, with tyre characteristics approximated by the LuGre tyre model. The rough terrain is modelled after the measured Belgian paving with the normal forces at the tyre contact patch approximated using FTire in ADAMS. Comparisons are drawn against the Bosch algorithm, and results show that the intelligent control approach achieves lateral stability by preventing wheel lockup whilst braking over rough terrain, without deteriorating the stopping distance.
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Li, Na, Ziyan Hao, Haiyong Jiang, and Bo Yu. "Positioning Control of a Human-Machine Cooperative Grafting Manipulator for Unstructured Environments." Transactions of the ASABE 63, no. 5 (2020): 1477–91. http://dx.doi.org/10.13031/trans.13817.
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HighlightsPositioning of a human-machine cooperative grafting manipulator for high-crown grafting of fruit trees is analyzed.PID control based on feedforward compensation of a dynamic model can realize high-precision position control of the braking process in unstructured agricultural environments.A manipulator based on the proposed control method can realize accurate position control and time-varying operating forces and can provide energy savings to meet the requirements of field operations.Abstract. Crown grafting of fruit trees has the disadvantages of high labor intensity and reduced graft survival. Therefore, a human-machine cooperative manipulator that relies on passive joint braking was designed to realize position control. The manipulator can replace manual operations to solve the problem of different positions in the grafting process and provide positioning and force support for canopy grafting. This study determined that the working space of the manipulator can cover the canopy area of fruit trees. Dynamic equations were established for motion simulation and feedforward compensation control of the manipulator. According to the dynamic model, the joint braking process was simulated. The simulation results showed that the joint braking torque needs to be dynamically controlled to ensure positioning accuracy of the manipulator. A process of passive joint braking was designed based on the proposed ideal braking curve. By comparing the position control accuracy of independent proportional integral derivative (PID) control, dynamic model feedforward compensation control, and PID control based on feedforward compensation of the dynamic model in simulations, it was determined that PID control based on feedforward compensation of the dynamic model was suitable for application in the braking torque control system. Finally, prototype tests showed that PID control based on feedforward compensation of the dynamic model can realize high-precision joint braking and position control of the manipulator. The positioning error was less than 5%, and the maximum vibration acceleration amplitude was reduced by 26.7% to 68.5%. The control system of the manipulator, using PID control based on feedforward compensation of the dynamic model, can provide adaptability for unstructured environments and reduce power consumption for application in field operations. Keywords: Controls, Dynamics, Grafting, Positioning, Simulation models, Unstructured agricultural environment.
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Bao, Hanwei, Zaiyu Wang, Zihao Liu, and Gangyan Li. "Study on Pressure Change Rate of the Automatic Pressure Regulating Valve in the Electronic-Controlled Pneumatic Braking System of Commercial Vehicle." Processes 9, no. 6 (2021): 938. http://dx.doi.org/10.3390/pr9060938.
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In contrast to the traditional pneumatic braking system, the electronic-controlled pneumatic braking system of commercial vehicles is a new system and can remedy the defects of the conventional braking system, such as long response time and low control accuracy. Additionally, it can adapt to the needs and development of autonomous driving. As the key pressure regulating component in electronic-controlled pneumatic braking system of commercial vehicles, automatic pressure regulating valves can quickly and accurately control the braking pressure in real time through an electronic control method. By aiming at improving driving comfort on the premise of ensuring braking security, this paper took the automatic pressure regulating valve as the research object and studied the pressure change rate during the braking process. First, the characteristics of the automatic pressure regulating valve and the concept of the pressure change rate were elaborated. Then, with the volume change of automatic pressure regulating valve in consideration, the mathematical model based on gas dynamics and the association model between pressure change rate and vehicle dynamic model was established in MATLAB/Simulink and analyzed. Next, through the experimental test of a sample product, the mathematical models have been verified. Finally, the key structure parameters affecting the pressure change rate of the automatic pressure regulating valve and the influence law have been identified; therefore, appropriate design advice and theoretical support have been provided to improve driving comfort.