Optimization of specific power of axial flux permanent magnet brushless DC (PMBLDC) motor based on genetic algorithm optimization technique for an electric vehicle application is presented. Double rotor sandwiched stator topology of axial flux permanent magnet brushless DC motor is selected considering its best suitability in electric vehicle applications. Rating of electric motor is determined...

We study stability of underwater vehicle dynamics for a six-degree-of-freedom vehicle modeled as a neutrally buoyant, submerged rigid body in an ideal fluid. We consider the case in which the center of gravity and the center of buoyancy of the vehicle are noncoincident such that gravity introduces an orientation-dependent moment. Noting that Kirchhoff’s equations of motion for a submerged rigid...

A methodology for estimating vehicle dynamics whith road geometry consideration is presented in this paper. Vehicle sideslip and roll parameters are estimated in the presence of the road bank angle and the road curvature as unknown inputs. The unknown inputs are then estimated using the observer results. This information about the road geometry and vehicle parameters is needed in the driver ass...

We present several simulations carried out using Chrono::FSI and Chrono::Vehicle that highlight the two way coupling between the dynamics of a vehicle and the dynamics of a fluid that is free to move in a tank rigidly attached to the vehicle; i.e., a vehicle sloshing problem. The simulations are carried out in Chrono [1] using a monolithic solution; i.e., there is no co-simulation, the entire s...

A new hybrid approach to modeling and control design for a biologically inspired unmanned underwater vehicle using pectoral fin control force generation is presented in this paper. The full dynamics of the proposed vehicle are modeled and the forces produced by the fins are computed using computational fluid dynamics. The stability of motion in the dive plane is analyzed and a proportional-inte...

A robust wheel slip controller for electric vehicles is introduced. The proposed wheel slip controller exploits the dynamics of electric traction drives and conventional hydraulic brakes for achieving maximum energy efficiency and driving safety. Due to the control of single wheel traction motors in combination with a hydraulic braking system, it can be shown, that energy recuperation and vehic...

Authors: Werner Kober, Martin Ehmann and Torsten Butz The increasing number of vehicle dynamics control systems in modern vehicles requires a fully integrated concept, which considers the different controller functions and adjusts them with respect to each other. The modelbased development and the verification of the global chassis controller of Magna Steyr is presented with reference to the co...

This paper presents a framework to use collision avoidance methods in the majority of existing mobile robots (that have any shape, and kinematic and dynamic constraints). The solution proposed is a vehicle abstraction layer based on transforming the space where these methods work, onto another one in which the constraints are implicitly represented. This space incorporates the vehicle kinematic...

In this paper we present an experimental platform for relative attitude control of spacecraft. The platform is part of the AUVSAT project at the Norwegian University of Science and Technology, a project with the goal of creating an underwater experimental laboratory for formation control of underwater vehicles and spacecraft. In the following we present the design and the specifications leading...

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