Yaw Rate and Sideslip Angle Control Through Single Input Single Output Direct Yaw Moment Control

Electric vehicles with independently controlled drivetrains allow torque vectoring, which enhances active safety and handling qualities. This article proposes an approach for the concurrent control of yaw rate and sideslip angle based on a single-input single-output (SISO) yaw rate controller. With the SISO formulation, the reference yaw rate is first defined according to the vehicle handling requirements and is then corrected based on the actual sideslip angle. The sideslip angle contribution guarantees a prompt corrective action in critical situations such as incipient vehicle oversteer during limit cornering in low tire-road friction conditions. A design methodology in the frequency domain is discussed, including stability analysis based on the theory of switched linear systems. The performance of the control structure is assessed via: 1) phase-plane plots obtained with a nonlinear vehicle model; 2) simulations with an experimentally validated model, including multiple feedback control structures; and 3) experimental tests on an electric vehicle demonstrator along step steer maneuvers with purposely induced and controlled vehicle drift. Results show that the SISO controller allows constraining the sideslip angle within the predetermined thresholds and yields tire-road friction adaptation with all the considered feedback controllers

The effect of swingarm stiffness on motorcycle stability: Experimental measurements and numerical simulations

This paper focuses on the effect of swingarm deformability on motorcycle stability and in particular on the weave mode. Multibody models for the analysis of stability and handling of single track vehicles require a lumped element representation of the deformability of the critical structural elements of the vehicle. The twist axis method is used to identify lumped stiffness and damping elements able to represent bending and torsion deformability of the swingarm. Experimental tests and identification results dealing with two different swingarms are presented. The identified lumped stiffness and damping elements are implemented in a multibody code and some numerical stability analyses are carried out. Calculated results show that swingarm deformability has a small effect on the stability of super sport motorcycles, whereas the stability of the weave mode of enduro motorcycles is affected by swingarm deformability in a specific range of speeds

A design procedure for the handling qualities optimization of the X-29A aircraft

A design technique for handling qualities improvement was developed for the X-29A aircraft. As with any new aircraft, the X-29A control law designers were presented with a relatively high degree of uncertainty in their mathematical models. The presence of uncertainties, and the high level of static instability of the X-29A caused the control law designers to stress stability and robustness over handling qualities. During flight test, the mathematical models of the vehicle were validated or corrected to match the vehicle dynamic behavior. The updated models were then used to fine tune the control system to provide fighter-like handling characteristics. A design methodology was developed which works within the existing control system architecture to provide improved handling qualities and acceptable stability with a minimum of cost in both implementation as well as software verification and validation

Prediction and Simulator Verification of Roll/Lateral Adverse Aeroservoelastic Rotorcraft–Pilot Couplings

The involuntary interaction of a pilot with an aircraft can be described as pilot-assisted oscillations. Such phenomena are usually only addressed late in the design process when they manifest themselves during ground/flight testing. Methods to be able to predict such phenomena as early as possible are therefore useful. This work describes a technique to predict the adverse aeroservoelastic rotorcraft–pilot couplings, specifically between a rotorcraft’s roll motion and the resultant involuntary pilot lateral cyclic motion. By coupling linear vehicle aeroservoelastic models and experimentally identified pilot biodynamic models, pilot-assisted oscillations and no-pilot-assisted oscillation conditions have been numerically predicted for a soft-in-plane hingeless helicopter with a lightly damped regressive lead–lag mode that strongly interacts with the roll modeat a frequency within the biodynamic band of the pilots. These predictions have then been verified using real-time flight-simulation experiments. The absence of any similar adverse couplings experienced while using only rigid-body models in the flight simulator verified that the observed phenomena were indeed aeroelastic in nature. The excellent agreement between the numerical predictions and the observed experimental results indicates that the techniques developed in this paper can be used to highlight the proneness of new or existing designs to pilot-assisted oscillation

A pilot in the loop analysis of helicopter acceleration/deceleration maneuvers

Helicopter flight acceleration/deceleration maneuvers are quantified and put to use in the fields of handling qualities, flight training and evaluation of simulator fidelity. The three specific cases include the normal speed change maneuver, the nap-of-the-Earth dash/quickstop, and the decelerating approach to hover. All of these maneuvers share common generic features in terms of pilot adaptation and mathematical description; yet each differs in terms of the essential feedback loop structure, implications for handling qualities requirements, and simulator fidelity criteria

Comparison of analytical predictions of longitudinal short period pilot-induced oscillations with results from a simulation study of the space shuttle orbiter

An analytical analysis of conditions producing pilot induced oscillations (PIO's) was made for the space shuttle orbiter in a landing approach configuration for the task of milling the elevation angle of the line of sight to a target vehicle. The analysis yielded a value of PIO frequency and a value for the amount of total system time delay (pilot + control system) that can be tolerated before instability results. Calculations were performed showing the effect of varying the range to the target and of varying the handling qualities of the orbiter vehicle. Analytical predictions were compared with simulation results obtained using a visual motion simulator

Assessment of flying-quality criteria for air-breathing aerospacecraft

A study of flying quality requirements for air breathing aerospacecraft gives special emphasis to the unusual operational requirements and characteristics of these aircraft, including operation at hypersonic speed. The report considers distinguishing characteristics of these vehicles, including dynamic deficiencies and their implications for control. Particular emphasis is given to the interaction of the airframe and propulsion system, and the requirements for dynamic systems integration. Past operational missions are reviewed to define tasks and maneuvers to be considered for this class of aircraft. Areas of special concern with respect to vehicle dynamics and control are identified. Experience with the space shuttle orbiter is reviewed with respect to flight control system mechanization and flight experience in approach and landing flying qualities for the National Aerospace Plane (NASP)

The aerobraking space transfer vehicle

With the advent of the Space Station and the proposed Geosynchronous Operation Support Center (GeoShack) in the early 21st century, the need for a cost effective, reusable orbital transport vehicle has arisen. This transport vehicle will be used in conjunction with the Space Shuttle, the Space Station, and GeoShack. The vehicle will transfer mission crew and payloads between low earth and geosynchronous orbits with minimal cost. Recent technological advances in thermal protection systems such as those employed in the Space Shuttle have made it possible to incorporate and aerobrake on the transfer vehicle to further reduce transport costs. The research and final design configuration of the aerospace senior design team from VPISU, working in conjunction with NASA, are presented. The topic of aerobraking and focuses on the evolution of an Aerobraking Space Transfer Vehicle (ASTV), is addressed

DIAGRAMS, FUNCTIONAL AND CONSTRUCTIVE SOLUTIONS OF THE STABILITY CONTROL SYSTEMS FOR AUTOMOTIVE APPLICATION

The modern car must correspond to certain requirements regarding the driver safety and more than that it must convince the potential buyer that it will offer him the safety he is so much in need of. For that reason the number and the diversity of the safety systems have increased so fast. Despite all this for the time being it can not be stated that a particular vehicle is totally safe and it can come through any difficult situation. Because of that the research in the field is carried on and the number of those who propose solutions mend to improve the vehicle behavior is getting bigger.active safety, vehicle, control

Study of helicopterroll control effectiveness criteria

A study of helicopter roll control effectiveness based on closed-loop task performance measurement and modeling is presented. Roll control critieria are based on task margin, the excess of vehicle task performance capability over the pilot's task performance demand. Appropriate helicopter roll axis dynamic models are defined for use with analytic models for task performance. Both near-earth and up-and-away large-amplitude maneuvering phases are considered. The results of in-flight and moving-base simulation measurements are presented to support the roll control effectiveness criteria offered. This Volume contains the theoretical analysis, simulation results and criteria development