The mechanical behavior of a military vehicle during off-highway operation is complex and highly nonlinear. Some current vehicle concepts include added intelligence through the implementation of sensors and controllers to enable autonomous or semi-autonomous operations. Control systems have typically been developed with controls software where the mechanical plant and sensors are represented as simplified and often linearized blocks, resulting in a poor vehicle assessment. This paper describes the development of an integrated environment for a control system, mechanical system dynamics, and sensor simulation for an improved assessment of the vehicle system performance. The vehicle chosen is an autonomous robot that attempts to follow a prescribed path along an off-highway terrain. The effect of including a stability controller for vehicle mobility is assessed. The architecture of the integrated simulation environment is described and its potential to improve schedule and reduce risk of the development of mechatronic military vehicle systems is explored.

关键词：控制器；汽车；传感器

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A control strategy is proposed for a minimally-actuated flapping- wing micro air-vehicle (FWMAV). The proposed vehicle is similar to the Harvard RoboFly that accomplished the first takeoff of an insect scale flapping wing aircraft, except that it is equipped with independently actuated wings. Using the derivation of the aerodynamic forces and moments from Part I, a control allocation strategy and a feedback control law are designed that enable the vehicle to achieve untethered, stabilized flight about a hover condition. Six degree-of-freedom maneuvers near hover are demonstrated as well. The control laws are designed to make use of two actuators that control the angular position of the wing in the stroke plane. The Split-Cycle Constant-Period Frequency Modulation with Wing Bias technique, introduced in Part I, is used to allow each wing to generate non-zero cycleaveraged aerodynamic forces and moments. This technique modifies the frequencies of the up and down strokes to yield non-zero cycle-averaged drag due to the flapping motion of a wing. Additionally, the midpoint of the wingbeat profile can be modified by use of a wing bias. The bias is introduced to primarily provide pitching moment control. In this work, the sensitivities of cycle-averaged forces and moments with respect to the control parameters are computed. Single axis controllers are designed and the complete system is simulated.

关键词：控制器；汽车；仿生汽车

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A new vehicle following controller is proposed for autonomous intelligent vehicles. The proposed vehicle following controller not only provides smooth transient maneuvers for unavoidable nonzero initial conditions but also guarantees the asymptotic platoon stability without the availability of feedforward information. Furthermore, the achieved asymptotic platoon stability is shown to be robust to sensor delays and an upper bound for the allowable sensor delays is also provided in this paper.

关键词：控制器；智能汽车；零部件

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This paper describes the design, analysis, and nonlinear simulation results (batch and piloted) for a longitudinal controller which is scheduled to be flight-tested on the High-Alpha Research Vehicle (HARV). The HARV is an F-18 airplane modified for and equipped with multi-axis thrust vectoring. The paper includes a description of the facilities, a detailed review of the feedback controller design, linear analysis results of the feedback controller, a description of the feed-forward controller design, nonlinear batch simulation results, and piloted simulation results. Batch simulation results include maximum pitch stick agility responses, angle of attack alpha captures, and alpha regulation for full lateral stick rolls at several alpha's. Piloted simulation results include task descriptions for several types of maneuvers, task guidelines, the corresponding Cooper-Harper ratings from three test pilots, and some pilot comments. The ratings show that desirable criteria are achieved for almost all of the piloted simulation tasks.

关键词：车辆控制器；汽车零部件

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The report describes the results of a study to investigate,identify,and analyze the potential problems of electromagnetic interference from all sources (internal and external to the vehicle) that may cause malfunction of motor vehicle electronic control and electronically actuated safety devices. This program accomplishes an analysis of inter-and intra-vehicle energy transfer and coupling by computer simulation,using DOD developed modeling techniques that have been employed for a wide range of EMC/EMI design and evaluation support problems. These applications have included aircraft,spacecraft,and advanced surface ships. A computerized circuit analysis model adapted from the IBM Electronic Circuit Analysis Program (ECAP) is used to assess susceptability of representative types of electronic components and subsystems typically used in automotive electronic applications. A preliminary EM environmental source file is provided based on a literature search of vehicular internal noise sources and worst case external electromagnetic field descriptions. Validation test plans and preliminary EMC guidelines for automotive electronics are summarized.

关键词：电子控制；汽车；安全装置；电磁干扰

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The report presents a set of basic guidelines to promote EMC in the use of electronic control and safety devices in automobiles. The applications and technological developments concerned with current automotive electronics are discussed. The research conducted by the automotive industry to explore the feasibility of a central processor or control system and potential problem areas are reviewed. A section is presented on the automotive electrical environment including a summary of source and coupled waveforms. A large section discusses guidelines for design,installation and testing of electronic control and safety devices in automobiles.

关键词：电子控制；汽车零部件

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Plug-in hybrid electric vehicles (PHEVs) are under evaluation by various stake holders to better understand their capability and potential benefits. PHEVs could allow users to significantly improve fuel economy over a standard HEV and in some cases, depending on daily driving requirements and vehicle design, have the ability to eliminate fuel consumption entirely for daily vehicle trips. The cost associated with providing charge infrastructure for PHEVs, along with the additional costs for the on-board power electronics and added battery requirements associated with PHEV technology will be a key factor in the success of PHEVs. This report analyzes the infrastructure requirements for PHEVs in single family residential, multi-family residential and commercial situations. Costs associated with this infrastructure are tabulated, providing an estimate of the infrastructure costs associated with PHEV deployment.

关键词：电动汽车；充电

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The combination of high oil costs, concerns about oil security and availability, and air quality issues related to vehicle emissions are driving interest in plug-in hybrid electric vehicles (PHEVs). PHEVs are similar to conventional hybrid electric vehicles, but feature a larger battery and plug-in charger that allows electricity from the grid to replace a portion of the petroleum-fueled drive energy. PHEVs may derive a substantial fraction of their miles from grid-derived electricity, but without the range restrictions of pure battery electric vehicles. As of early 2007, production of PHEVs is essentially limited to demonstration vehicles and prototypes. However, the technology has received considerable attention from the media, national security interests, environmental organizations, and the electric power industry. The use of PHEVs would represent a significant potential shift in the use of electricity and the operation of electric power systems. Electrification of the transportation sector could increase generation capacity and transmission and distribution (T&D) requirements, especially if vehicles are charged during periods of high demand. This study is designed to evaluate several of these PHEV-charging impacts on utility system operations within the Xcel Energy Colorado service territory.

关键词：电动汽车；充电

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This report summarizes the analysis and measurement tasks accomplished for this phase of the Dot Road Vehicle EMC/EMI program and the contents of EMC Guidelines proposed for the design and maintenance phases of electronic safety and control systems. A computerized coupling analysis program was used to determine the effects of body shielding,aperture size,and cable lengths on signal coupling in the 100to 200MHz band between a simulated mobile radio emission and a modeled air-cushion restraint system cable as it might be used in a motor vehicle. A series of susceptibility tests were performed on an electronic speed control system and an anti-skid control module to determine functional upset levels of injected signals at critical circuit ports on these devices. The upset criteria were based on performance departures from normal,resulting from the injection of interfering signals. The injected signals were designed to represent levels and durations characteristic of those generated within the vehicle or coupled from external sources. A set of basic guidelines to promote EMC in the use of electronic control and safety devices in automobiles are presented. The applications and technological developments concerned with current automotive electronics are discussed. The research conducted by the automotive industry to explore the feasibility of a central processor or control system and potential problem areas are reviewed.

关键词：电子控制；汽车；安全装置

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This document forms the final report on the development of a concept wheel force transducer that can measure the forces and moments between a tire and a road on a HMMWV driven under off-road conditions. This concept development is part of a project that endeavors to develop, validate and calibrate cost effective field test equipment for measuring tire characteristics on vehicles whilst driving off-road. The proposed wheel force transducer is an important step in a renewed research effort that aims to correct the gap in current tire testing and modeling knowledge to ensure that future off-road vehicle models and simulation efforts are conducted with confidence. The report briefly describes the manufacturing, assembly and calibration of 4 wheel force transducers for use on the HMMWV. An interface drawing, for fitment of the wheel force transducer to other vehicles, is also supplied.

关键词：传感器；轮胎

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