On the Experimental Analysis of Integral Sliding Modes for Yaw Rate and Sideslip Control of an Electric Vehicle with Multiple Motors

With the advent of electric vehicles with multiple motors, the steady-state and transient cornering responses can be designed and implemented through the continuous torque control of the individual wheels, i.e., torque-vectoring or direct yaw moment control. The literature includes several papers on sliding mode control theory for torque-vectoring, but the experimental investigation is so far limited. More importantly, to the knowledge of the authors, the experimental comparison of direct yaw moment control based on sliding modes and typical controllers used for stability control in production vehicles is missing. This paper aims to reduce this gap by presenting and analyzing an integral sliding mode controller for concurrent yaw rate and sideslip control. A new driving mode, the Enhanced Sport mode, is proposed, inducing sustained high values of sideslip angle, which can be limited to a specified threshold. The system is experimentally assessed on a four-wheel-drive electric vehicle. The performance of the integral sliding mode controller is compared with that of a linear quadratic regulator during step steer tests. The results show that the integral sliding mode controller significantly enhances the tracking performance and yaw damping compared to the more conventional linear quadratic regulator based on an augmented singletrack vehicle model formulation. © 2018, The Korean Society of Automotive Engineers and Springer-Verlag GmbH Germany, part of Springer Natur

Water-soluble ions in atmospheric aerosols measured in Xi'an, China: Seasonal variations and sources

Daily PM(2.5) and water-soluble inorganic ions (Na(+), NH(4)(+), K(+), Mg(2+), Ca(2+), Cl(-), NO(3)(-) and SO(4)(2-)) were collected in Xi&#39;an (34.23 degrees N, 108.88 degrees E), China from March 2006 to March 2007. PM(2.5) was collected using battery-powered mini-volume samplers. And the ions were determined by ion chromatography from the measured aerosol mass. The annual average mass concentration of PM(2.5) was found to be 194.1 +/- 78.6 mu g m(-3), which exceeded substantially the international guidelines for health concerns. The seasonal average mass concentration of PM(2.5) was highest in winter (266.8 mu g m(-3)) and lowest in summer (138.6 mu g m(-3)). The three highest abundant ions were SO(4)(2-), NO(3)(-), and NH(4)(-), with average concentrations of 35.6 +/- 19.5 mu g m(-3), 16.4 +/- 10.1 mu g m(-3), and 11.4 6.8 mu g m(-3), which were accounted for 18.7%, 8.0%, and 5.7% of the PM(2.5) mass, respectively. The major ions were in the species of (NH(4))(2)SO(4), NH(4)HSO(4) and NH(4)NO(3), and their concentrations were highest in winter, due to high coal combustion. The concentrations of Ca(2+) were higher in spring than other seasons, due to the higher mineral dust concentrations. Ca(2+) was strongly correlated with CO(3)(2-), which was calculated as the difference in the measured cations minus anions. Ion balance calculations indicate that the PM(2.5) was acidic, and this result is consistent with the measurement of pH values. Sulfur oxidation ratio was higher in summer and autumn, which implies that the formation of secondary sulfate-rich particles is favored by warm and relatively moist weather. Nitrogen oxidation ratio was highest in autumn.</p

Gamma-ray astronomy and cosmic-ray physics with ARGO-YBJ

The ARGO-YBJ detector, located 4300 m a.s.l. on the Tibet plateau, is a ground-based, full- coverage array of Resistive Plate Chambers (RPCs) covering a surface of 78×74 m2, surrounded by a guard ring of RPCs enclosing a total surface of about 11000 m2. ARGO-YBJ was designed to detect extensive air showers generated by cosmic rays and gamma rays with primary energy greater than few hundred GeV, in order to study the region of the cosmic-ray spectrum out of the reach of both satellite-based experiments and traditional ground-based arrays. The experiment has been running with its complete layout since November 2007, collecting over 2:5×1011 events. The main results obtained by ARGO-YBJ will be presented here, and specifically: the monitoring of astronomical gamma-ray sources, such as the Crab nebula and the MRK 421 AGN, the moon shadow, the medium-scale anisotropy map, the proton-proton inelastic cross section at center-of- mass energy between 70 and 500 GeV where no accelerator data are available

Gamma-ray astronomy with ARGO-YBJ

ARGO-YBJ is a full coverage air shower array located at the YangBaJing Cosmic Ray Laboratory (Tibet, P.R. China, 4300 m a.s.l., 606 g/cm2) recording data with a duty cycle ≥85% and an energy threshold of a few hundred GeV. In this paper the latest results in Gamma-Ray Astronomy are summarized

Identification of six new susceptibility loci for invasive epithelial ovarian cancer

Genome Instability and Cance