Matching Items (4)
Description
The California Department of Transportation (Caltrans) is required to comply
with the National Pollution Discharge Elimination (NPDES) permit, which includes the infiltration of stormwater runoff from highways and implementing soil based best managements practices (BMPs). Stormwater BMPs are in place to prevent pollution in stormwater runoff as well as to facilitate the stormwater discharge from the road. Per this new permit, Caltrans is to install soil based BMPs that can absorb the 85th percentile of a 24-hour stormwater event. In order to absorb the stormwater runoff, the area used is the Clear Recovery Zone (CRZ), which are the road embankments/slopes located adjacent to the roadside. The CRZ must be traversable and recoverable in order to meet roadside traffic safety standards. A major concern for Caltrans is the uncertainty on how these BMPs will affect the safety of a vehicle, if a vehicle were to interact with the soft soils.
In order to provide an insight on the effects of the BMPs, the modeling and simulation of vehicle dynamics under certain interactions between the roadside, soil, and vehicle was completed. The research used computer simulations to quantify the probability of rollover accidents under several different vehicle, driving and ground conditions. The vehicles traversing typical archetype roadsides on soft soil are simulated using MsMac3D software. It was important to model the properties of the vehicle, roadside, mechanical and hydraulic properties of soils realistically in order to obtain an accurate representation of a real-world vehicle and soil interaction.
The outcome was a library of simulations that provided quantifiable data on the effect that soft soils have on the safety and rollover potential of a vehicle traversing the CRZ.
with the National Pollution Discharge Elimination (NPDES) permit, which includes the infiltration of stormwater runoff from highways and implementing soil based best managements practices (BMPs). Stormwater BMPs are in place to prevent pollution in stormwater runoff as well as to facilitate the stormwater discharge from the road. Per this new permit, Caltrans is to install soil based BMPs that can absorb the 85th percentile of a 24-hour stormwater event. In order to absorb the stormwater runoff, the area used is the Clear Recovery Zone (CRZ), which are the road embankments/slopes located adjacent to the roadside. The CRZ must be traversable and recoverable in order to meet roadside traffic safety standards. A major concern for Caltrans is the uncertainty on how these BMPs will affect the safety of a vehicle, if a vehicle were to interact with the soft soils.
In order to provide an insight on the effects of the BMPs, the modeling and simulation of vehicle dynamics under certain interactions between the roadside, soil, and vehicle was completed. The research used computer simulations to quantify the probability of rollover accidents under several different vehicle, driving and ground conditions. The vehicles traversing typical archetype roadsides on soft soil are simulated using MsMac3D software. It was important to model the properties of the vehicle, roadside, mechanical and hydraulic properties of soils realistically in order to obtain an accurate representation of a real-world vehicle and soil interaction.
The outcome was a library of simulations that provided quantifiable data on the effect that soft soils have on the safety and rollover potential of a vehicle traversing the CRZ.
ContributorsPonce, Esai Jonathon (Author) / Neithalath, Narayanan (Thesis advisor) / Underwood, Shane (Committee member) / Khodadaditirkolaei, Hamed (Committee member) / Arizona State University (Publisher)
Created2019
Description
The tire blowout is potentially one of the most critical accidents that may occur on the road. Following a tire blowout, the mechanical behavior of the tire is extremely affected and the forces generating from the interaction of the tire and the ground are redistributed. This severe change in the mechanism of tire force generation influences the dynamic characteristics of the vehicle significantly. Thus, the vehicle loses its directional stability and has a risk of departing its lane and colliding with other vehicles or the guardrail. This work aims to further broaden our current knowledge of the vehicle dynamic response to a blowout scenario during both rectilinear and curvilinear motions. To that end, a fourteen degrees of freedom full vehicle model combined with the well-grounded Dugoff’s tire models is developed and validated using the high fidelity MSC Adams package. To examine the effect of the tire blowout on the dynamic behavior of the vehicle, a series of tests incorporating a tire blowout is conducted in both rectilinear and curvilinear maneuvers with different tire burst locations. It is observed that the reconstruction of the tire forces resulting from blowout leads to a substantial change in the dynamics of the vehicle as well as a severe directional instability and possibly a rollover accident. Consequently, a corrective safety control system utilizing a braking/traction torque actuation mechanism is designed. The basic idea of the stability controller is to produce a regulated amount of input torque on one or more wheels apart from the blown tire. The proposed novel control-oriented model eliminates the simplifying assumptions used in the design of such controllers. Furthermore, a double integrator was augmented to enhance the steady-state performance of the sliding mode closed-loop system. The chattering problem stemmed by the switching nature of the controller is diminished through tuning the slope of saturation function. Different apparatuses are used in terms of actuation, using an individual front actuator, utilizing multi-actuator, and using two-wheel braking torques successively. It is found that the proposed controllers are perfectly capable of stabilizing the vehicle and robustly track the desired trajectory in straight-line and cornering maneuvers.
ContributorsAl-Quran, Mahdi (Author) / Mayyas, Abdel Ra'Ouf (Thesis advisor) / Shuaib, Abdelrahman (Committee member) / Chen, Yan (Committee member) / Ren, Yi (Committee member) / Yong, Sze (Committee member) / Arizona State University (Publisher)
Created2021
Description
Over the past few decades, there is an increase in demand for various ground robot applications such as warehouse management, surveillance, mapping, infrastructure inspection, etc. This steady increase in demand has led to a significant rise in the nonholonomic differential drive vehicles (DDV) research. Albeit extensive work has been done in developing various control laws for trajectory tracking, point stabilization, formation control, etc., there are still problems and critical questions in regards to design, modeling, and control of DDV’s - that need to be adequately addressed. In this thesis, three different dynamical models are considered that are formed by varying the input/output parameters of the DDV model. These models are analyzed to understand their stability, bandwidth, input-output coupling, and control design properties. Furthermore, a systematic approach has been presented to show the impact of design parameters such as mass, inertia, radius of the wheels, and center of gravity location on the dynamic and inner-loop (speed) control design properties. Subsequently, extensive simulation and hardware trade studies have been conductedto quantify the impact of design parameters and modeling variations on the performance of outer-loop cruise and position control (along a curve). In addition to this, detailed guidelines are provided for when a multi-input multi-output (MIMO) control strategy is advisable over a single-input single-output (SISO) control strategy; when a less stable plant is preferable over a more stable one in order to accommodate performance specifications. Additionally, a multi-robot trajectory tracking implementation based on receding horizon optimization approach is also presented. In most of the optimization-based trajectory tracking approaches found in the literature, only the constraints imposed by the kinematic model are incorporated into the problem. This thesis elaborates the fundamental problem associated with these methods and presents a systematic approach to understand and quantify when kinematic model based constraints are sufficient and when dynamic model-based constraints are necessary to obtain good tracking properties. Detailed instructions are given for designing and building the DDV based on performance specifications, and also, an open-source platform capable of handling high-speed multi-robot research is developed in C++.
ContributorsManne, Sai Sravan (Author) / Rodriguez, Armando A (Thesis advisor) / Si, Jennie (Committee member) / Berman, Spring (Committee member) / Arizona State University (Publisher)
Created2021
Description
In the development of autonomous ground vehicles (AGVs), how to guarantee vehicle lateral stability is one of the most critical aspects. Based on nonlinear vehicle lateral and tire dynamics, new driving requirements of AGVs demand further studies and analyses of vehicle lateral stability control strategies. To achieve comprehensive analyses and stability-guaranteed vehicle lateral driving control, this dissertation presents three main contributions.First, a new method is proposed to estimate and analyze vehicle lateral driving stability regions, which provide a direct and intuitive demonstration for stability control of AGVs. Based on a four-wheel vehicle model and a nonlinear 2D analytical LuGre tire model, a local linearization method is applied to estimate vehicle lateral driving stability regions by analyzing vehicle local stability at each operation point on a phase plane. The obtained stability regions are conservative because both vehicle and tire stability are simultaneously considered. Such a conservative feature is specifically important for characterizing the stability properties of AGVs.
Second, to analyze vehicle stability, two novel features of the estimated vehicle lateral driving stability regions are studied. First, a shifting vector is formulated to explicitly describe the shifting feature of the lateral stability regions with respect to the vehicle steering angles. Second, dynamic margins of the stability regions are formulated and applied to avoid the penetration of vehicle state trajectory with respect to the region boundaries. With these two features, the shiftable stability regions are feasible for real-time stability analysis.
Third, to keep the vehicle states (lateral velocity and yaw rate) always stay in the shiftable stability regions, different control methods are developed and evaluated. Based on different vehicle control configurations, two dynamic sliding mode controllers (SMC) are designed. To better control vehicle stability without suffering chattering issues in SMC, a non-overshooting model predictive control is proposed and applied. To further save computational burden for real-time implementation, time-varying control-dependent invariant sets and time-varying control-dependent barrier functions are proposed and adopted in a stability-guaranteed vehicle control problem.
Finally, to validate the correctness and effectiveness of the proposed theories, definitions, and control methods, illustrative simulations and experimental results are presented and discussed.
ContributorsHuang, Yiwen (Author) / Chen, Yan (Thesis advisor) / Lee, Hyunglae (Committee member) / Ren, Yi (Committee member) / Yong, Sze Zheng (Committee member) / Zhang, Wenlong (Committee member) / Arizona State University (Publisher)
Created2021