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Estimation of vehicle sideslip angle via pseudo-multisensor information fusion method

Te Chen Long Chen Yingfeng Cai Xing Xu
Metrology and Measurement Systems | 2018 | vol. 25 | No 3 | 499-516 | DOI: 10.24425/123902
Keywords vehicle state estimation sideslip angle recursive least squares multi-sensor information fusion pseudo-measurements
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Abstract

This paper presents a novel sideslip angle estimator based on the pseudo-multi-sensor fusion method. The

kinematics-based and dynamics-based sideslip angle estimators are designed for sideslip angle estimation.

Also, considering the influence of ill-conditioned matrix and model uncertainty, a novel sideslip angle estimator

is proposed based on the wheel speed coupling relationship using a modified recursive least squares

algorithm. In order to integrate the advantages of above three sideslip angle estimators, drawing lessons

from the multisensory information fusion technology, a novel thinking of sideslip angle estimator design is

presented through information fusion of pseudo-multi-sensors. Simulations and experiments were carried

out, and effectiveness of the proposed estimation method was verified.

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Authors and Affiliations

Te Chen
Long Chen
Yingfeng Cai
Xing Xu

Microstructure Evolution, Phase Composition, Tensile and Hardness Properties Investigation of CrCuFeNi2Tix-Based High-Entropy Alloys

Long Chen
Archives of Metallurgy and Materials | 2023 | vol. 68 | No 3 | 881-886 | DOI: 10.24425/amm.2023.145451
Keywords high entropy alloys phase composition microstructure tensile tests hardness test
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Abstract

CrCuFeNi2Tix high-entropy alloys (HEAs) (x = 0.1 ~ 0.7) are prepared and studied in this paper to investigate the effect of titanium on the microstructure, phase composition, and mechanical properties of the CrCuFeNi2Tix-based system. Microstructural studies using scanning electron microscopy (SEM) and X-ray diffraction (XRD) showed that the addition of titanium could induce the formation of a body-centered cubic lattice (BCC) and intermetallic compounds (Ni3Ti) of the CrCuFeNi2Tix-based system. The practical formation of the phases meet the theory of the atomic size difference δ, mixing enthalpy ΔHmix, mixing entropy ΔSmix, valence electron concentration (VEC), and electronegativity difference Δχ. Additionally, the tensile and hardness properties of the CrCuFeNi2Tix-based system are investigated in this study. Generally, CrCuFeNi2Tix HEAs show low stiffness and good flexibility in mechanical properties. When the x value is relatively small, the HEAs show good ductility in the tensile test, which is the result of a face-centered cubic lattice (FCC) in the phase composition at this stage; when the x value becomes larger, due to the formation of the intermetallic compounds Ni3Ti, the HEAs show high hardness
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Authors and Affiliations

Long Chen
1 2
ORCID: ORCID
  1. Northwestern Polytechnical University, The School of Mechanical Engineering, Xi’an, China
  2. Shenzhen University, College of Electronics and Information Engineering, Shenzhen, China

Sideslip angle estimation of in-wheel motor drive electric vehicles by cascaded multi-Kalman filters and modified tire model

Long Chen Te Chen Xing Xu Yingfeng Cai Haobin Jiang Xiaoqiang Sun
Metrology and Measurement Systems | 2019 | vol. 26 | No 1 | 185-208 | DOI: 10.24425/mms.2019.126329
Keywords distributed drive electric vehicle Kalman filter error compensation sideslip angle
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Abstract

Reliable estimation of longitudinal force and sideslip angle is essential for vehicle stability and active safety control. This paper presents a novel longitudinal force and sideslip angle estimation method for four-wheel independent-drive electric vehicles in which the cascaded multi-Kalman filters are applied. Also, a modified tire model is proposed to improve the accuracy and reliability of sideslip angle estimation. In the design of longitudinal force observer, considering that the longitudinal force is the unknown input of the electric driving wheel model, an expanded electric driving wheel model is presented and the longitudinal force is obtained by a strong tracking filter. Based on the longitudinal force observer, taking into consideration uncertain interferences of the vehicle dynamic model, a sideslip angle estimation method is designed using the robust Kalman filter and a novel modified tire model is proposed to correct the original tire model using the estimation results of longitudinal tire forces. Simulations and experiments were carried out, and effectiveness of the proposed estimation method was verified.

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Authors and Affiliations

Long Chen
Te Chen
Xing Xu
Yingfeng Cai
Haobin Jiang
Xiaoqiang Sun

Fuzzy comprehensive state evaluation of housing of silicone rubber insulators based on level difference maximization

Sihua Wang Long Chen Lei Zhao Junjun Wang
Archives of Electrical Engineering | 2022 | vol. 71 | No 1 | 57-74 | DOI: 10.24425/aee.2022.140197
Keywords entropy weight method silicone rubber composite insulator fuzzy comprehensive evaluation improved analytic hierarchy process level difference maximization method membership function
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Abstract

The aging of composite insulators in outdoor operation for a long time has a direct impact on the safe and stable operation of the power grid. To solve this problem, fuzzy comprehensive evaluation of composite insulators based on level difference maximum is proposed. To verify the feasibility of this method, insulators in Xinjiang are sampled and the index evaluation system for composite insulators is established based on electrical, mechanical, hydrophobic and other properties, combined with operational years, geographical environment and other factors; Firstly, different membership functions are established according to index types. It is more likely to determine the grade of insulator by comparing measured data with the boundary value. Then, to solve the problem that weights cannot be effectively integrated in the combination weighting, level difference maximization is proposed (during the operation of insulators, the index which has a greater influence on the performance of insulators takes a higher proportion of the weight). Finally, on the basis of fully considering the clarity and ambiguity of grade division, the grade state of insulators is obtained by using the linear weighting method. The results show that compared with the traditional method, the improved method of the membership function and level difference maximum can realize the dynamic adjustment of the index based on the degree of information change. The method can better evaluate the insulator grade. The case study shows that the model can accurately and quickly judge the state of composite insulators, which can be used as a reference for manufacturing and maintenance departments.
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Bibliography

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[11] Zhou Y.M., Studies on the degradation depth of silicon composite insulator in service, Master Thesis, Wuhan University, Wuhan (2018).

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[14] Liu Y., Wang J.G., Han F. et al., Electrical and mechanical properties of composite insulators af- ter different operation periods, High Voltage Engineering, vol. 34, no. 5, pp. 1017–1021 (2008), DOI: 10.13336/j.1003-6520.hve.2008.05.027.

[15] Yao L.N., Wu Y.H., Wang S.H. et al., Electrical and mechanical properties of on-line compos- ite insulators, Insulating Materials, vol. 48, no. 8, pp. 23–27 (2015), DOI: 10.16790/j.cnki.1009- 9239.im.2015.08.005.

[16] Jia Z.D., Yang C.X., Wang X.L. et al., Aging characteristics of composite insulators based on hydropho- bicity transfer test, High Voltage Engineering, vol. 41, no. 6, pp. 1907–1914 (2015), DOI: 10.13336/ j.1003-6520.hve.2015.06.019.

[17] Zhang M.M., Research on evaluation Method of Insulator pollution Status Assessment Based on UV Pulse Parameters, Master Thesis, Southwest Jiaotong University, Sichuan (2019).

[18] Mao Y.K., Guan Z.C., Wang L.M. et al., Evaluation of contamination levels of outdoor insulators based on the principal components analysis of leakage current Pulse, Transactions of China Electrotechnical Society, vol. 24, no. 8, pp. 39–45 (2009), DOI: 10.19595/j.cnki.10006753.tces.2009.08.007.


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Authors and Affiliations

Sihua Wang
1
ORCID: ORCID
Long Chen
1
ORCID: ORCID
Lei Zhao
1
Junjun Wang
1
  1. Lanzhou Jiaotong University, Lanzhou, 730070, China

NFTSM control of direct yaw moment for autonomous electric vehicles with consideration of tire nonlinear mechanical properties

Xiaoqiang Sun Yujun Wang Yingfeng Cai Pak Kin Wong Long Chen
Bulletin of the Polish Academy of Sciences Technical Sciences | 2021 | 69 | 3 | e137065 | DOI: 10.24425/bpasts.2021.137065
Keywords autonomous electric vehicles direct yaw moment control (DYC) tire nonlinear mechanical properties nonsingular fast terminal sliding mode (NFTSM) trust-region interior-point method
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Abstract

To improve the curve driving stability and safety under critical maneuvers for four-wheel-independent drive autonomous electric vehicles, a three-stage direct yaw moment control (DYC) strategy design procedure is proposed in this work. The first stage conducts the modeling of the tire nonlinear mechanical properties, i.e. the coupling relationship between the tire longitudinal force and the tire lateral force, which is crucial for the DYC strategy design, in the STI (Systems Technologies Inc.) form based on experimental data. On this basis, a 7-DOF vehicle dynamics model is established and the direct yaw moment calculation problem of the four-wheel-independent drive autonomous electric vehicle is solved through the nonsingular fast terminal sliding mode (NFTSM) control method, thus the optimal direct yaw moment can be obtained. To achieve this direct yaw moment, an optimal allocation problem of the tire forces is further solved by using the trust-region interior-point method, which can effectively guarantee the solving efficiency of complex optimization problem like the tire driving and braking forces allocation of four wheels in this work. Finally, the effectiveness of the DYC strategy proposed for the autonomous electric vehicles is verified through the CarSim-Simulink co-simulation results.
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Authors and Affiliations

Xiaoqiang Sun
1 2
Yujun Wang
1
Yingfeng Cai
1
Pak Kin Wong
3
Long Chen
2
ORCID: ORCID
  1. Automotive Engineering Research Institute, Jiangsu University, Zhenjiang Jiangsu, China
  2. State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China
  3. Department of Electromechanical Engineering, University of Macau, Taipa, Macau

Multiphysics simulation and shed structure optimization of catenary icing insulator

Sihua Wang Junjun Wang Lijun Zhou Long Chen Lei Zhao
Archives of Electrical Engineering | 2021 | vol. 70 | No 3 | 675-688 | DOI: 10.24425/aee.2021.137581
Keywords cantilever icing insulator electrostatic field finite element simulation multiphysical field coupling temperature field
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Abstract

It is not easy to make the insulators of the railway catenary for the dry and cold environment of the icy Qinghai-Tibet plateau, without causing serious ice-related flashover accidents. To study the operating status of catenary icing insulators, a two-dimensional icing model of catenary cantilever insulators was established based on the winter environmental characteristics of the Golmud station on the Qinghai-Tibet Railway. Compared different directions of ice growth, the spatial electric field distribution, and surface temperature distribution characteristics of icing insulatorswere analyzed by multi-physical field coupling simulation. The results show that as the thickness of the ice layer increases and the length of the icicle increases, the field intensity of the insulator gradually increases, and the surface temperature continues to rise. When the ice edge grows vertically downward, the electric field intensity of the insulator is the smallest, and the electric field intensity is the largest when the ice edge grows horizontally. Although the surface temperature of the insulator will rise with the increase of icing degree, it is lower than the freezing point and will not have a great impact on insulation performance. Secondly, when the cantilever insulator is arranged obliquely, the increase in the inclination angle will cause the electric field to increase and the temperature to rise slightly, so the inclination angle of the oblique cantilever should be reduced as much as possible during installation. Finally, the insulator with better insulation performance is obtained by optimizing the structure of the flat cantilever insulator.
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Bibliography

[1] Meng Hong, Qinghai-Tibet Railway: The Magical "Sky Road" on the Roof of theWorld, Party Member’s Digest, no. 11, pp. 38–40 (2019).
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Authors and Affiliations

Sihua Wang
1
ORCID: ORCID
Junjun Wang
1
Lijun Zhou
1
Long Chen
1
ORCID: ORCID
Lei Zhao
1
  1. Lanzhou Jiaotong University, China

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