Scholarly Works, Mechanical Engineering

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https://hdl.handle.net/10919/23262

Research articles, presentations, and other scholarship

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Countering the Destabilizing Effects of Shifted Loads through Pneumatic Suspension Design
Chen, Yang; Ahmadian, Mehdi (SAE International, 2019-11-08)
This article proposes a novel approach to reduce the destabilizing impacts of the shifted loads of heavy trucks (due to improper loading or liquid slosh) by pneumatic suspension design. In this regard, the pneumatically balanced suspension with dual leveling valves is introduced, and its potential for the improvement of the body imbalance due to the shifted load is determined. The analysis is based on a multi-domain model that couples the suspension fluid dynamics, shifted-load impacts, and tractor-semitrailer dynamics. Truck dynamics is simulated using TruckSim, which is integrated with the pneumatic suspension model developed in AMESim. This yields a reasonable prediction of the effect of the suspension airflow dynamics on vehicle dynamics. Moreover, the ability of the pneumatic suspension to counteract the effects of two general shifted loads - static (rigid cargo) and dynamic (liquid) - is studied. The simulation results indicate that the dual-leveling-valve suspension results in a reduction in roll angle and roll rate of the vehicle body for both static and dynamic load-shifting cases, as compared to the conventional single-leveling-valve suspension. Suppression of the liquid sloshing behavior is obtained by the truck with the dual-leveling-valve suspension. Furthermore, the co-simulation platform established in the study is useful for efficient and accurate analyses of the coupled shifted load-pneumatic suspension-vehicle system dynamics.
Detailed Modeling of Pneumatic Braking in Long Combination Vehicles
Zhang, Zichen; Sun, Nan; Chen, Yang; Ahmadian, Mehdi (SAE International, 2021-08-23)
A detailed model for pneumatic S-cam drum brake systems is developed and integrated into a multibody dynamic model for a 33-ft A-double long combination vehicle (LCV). The model, developed in TruckSim®, is used to study the dynamics of LCVs during straight-line braking at various speeds. It includes the response delay in braking that occurs from the time of application to when the brakes are applied at the drum for all axles. Additionally, the model incorporates an accurate characterization of brake torque versus chamber pressure at different speeds, along with the anti-lock brake system (ABS) dynamics, to yield an accurate prediction of the vehicle's deceleration during braking. The modeling results are compared with test results at speeds ranging from 20 mph to 65 mph on dry pavement. A close match between the model's prediction and test results is observed. The model is then used to perform a parametric study that evaluates braking distance and time for different pavement coefficients of friction (μp) at various speeds. The results indicate a distinct nonlinear relationship between μp and braking dynamics. At various μp, stopping time increases linearly with speed, as perhaps expected. Stopping distance, however, increases nonlinearly for a larger μp and linearly for a smaller μp versus speed. At a given speed, stopping time increases nonlinearly with a reduced μp, whereas stopping distance increases relatively linearly with a reduced μp.
Enhancing Autonomous Vehicle Navigation with a Clothoid-Based Lateral Controller
Shaju, Aashish; Southward, Steve; Ahmadian, Mehdi (MDPI, 2024-02-22)
This study introduces an advanced lateral control strategy for autonomous vehicles using a clothoid-based approach integrated with an adaptive lookahead mechanism. The primary focus is on enhancing lateral stability and path-tracking accuracy through the application of Euler spirals for smooth curvature transitions, thereby reducing passenger discomfort and the risk of vehicle rollover. An innovative aspect of our work is the adaptive adjustment of lookahead distance based on real-time vehicle dynamics and road geometry, which ensures optimal path following under varying conditions. A quasi-feedback control algorithm constructs optimal clothoids at each time step, generating the appropriate steering input. A lead filter compensates for the vehicle’s lateral dynamics lag, improving control responsiveness and stability. The effectiveness of the proposed controller is validated through a comprehensive co-simulation using TruckSim^® and Simulink^®, demonstrating significant improvements in lateral control performance across diverse driving scenarios. Future directions include scaling the controller for higher-speed applications and further optimization to minimize off-track errors, particularly for articulated vehicles.
Extended Viterbi Algorithm for Hidden Markov Process: A Transient/Steady Probabilities Approach
Soltan, Reza A.; Ahmadian, Mehdi (Hikari Ltd., 2012)
In this paper an extended Viterbi algorithm is presented for first-order hidden Markov processes, with the help of a dummy combined state sequence. For this, the Markov switching’s transient probabilities and steady probabilities are studied separately. The algorithm gives a maximum likelihood estimate for the state sequence of a hidden Markov process. Comparing with the standard Viterbi algorithm, this method gives a higher maximum likelihood, and also picks up the state switching earlier, which is particularly important for the out of sample applications. The theory of this method is discussed in this paper and then a sample of a series of experiment is presented to illustrate the theory. A quantitative comparison is also given between this method and the standard Viterbi algorithm.
A Novel Double-Piston Magnetorheological Damper for Space Truss Structures Vibration Suppression
Wang, Qiang; Ahmadian, Mehdi; Chen, Zhaobo (Hindawi, 2014-07-22)
The design, fabrication, and testing of a new double-piston MR damper for space applications are discussed. The design concept for the damper is described in detail. The electromagnetic analysis of the design and the fabrication of the MR damper are also presented. The design analysis shows that the damper meets the weight and size requirements for being included in a space truss structure. The prototype design is tested in a damper dynamometer. The test results show that the damper can provide nearly 80 N of damping force at its maximum velocity and current. The test results also show that the seal drag could contribute significantly to the damping forces. Additionally, the test results indicate that both the work by the damper and damping force increase rapidly with increasing current at lower currents and taper off at higher currents as the damper starts to saturate. The damper force versus velocity plots show hysteresis in both pre- and postyield regions and asymmetric forces in jounce and rebound. A model is proposed for representing the force-displacement, force-velocity, and asymmetric forces observed in test results. A comparison of the modeling results and test data indicates that the model accurately represents the force characteristics of the damper.
PID-Based Longitudinal Control of Platooning Trucks
Shaju, Aashish; Southward, Steve; Ahmadian, Mehdi (MDPI, 2023-12-05)
This article focuses on the development and assessment of a PID-based computationally cost-efficient longitudinal control algorithm for platooning trucks. The study employs a linear controller with a nested architecture, wherein the inner loop regulates relative velocities while the outer loop governs inter-vehicle distances within platoon vehicles. The design of the proposed PID controller entails a comprehensive focus on system identification, particularly emphasizing actuation dynamics. The simulation framework used in this study has been established through the integration of TruckSim^® and Simulink^®, resulting in a co-simulation environment. Simulink^® serves as the platform for control action implementation, while TruckSim^® simulates the vehicle’s dynamic behavior, thereby closely replicating real world conditions. The significant effort in fine-tuning the PID controller is described in detail, including the system identification of the linearized longitudinal dynamic model of the truck. The implementation is followed by an extensive series of simulation tests, systematically evaluating the controller’s performance, stability, and robustness. The results verify the effectiveness of the proposed controller in various leading truck operational scenarios. Furthermore, the controller’s robustness to large fluctuations in road grade and payload weight, which is commonly experienced in commercial vehicles, is evaluated. The simulation results indicate the controller’s ability to compensate for changes in both road grade and payload. Additionally, an initial assessment of the controller’s efficiency is conducted by comparing the commanded control efforts (total torque on wheels) along with the total fuel consumed. This initial analysis suggests that the controller exhibits minimal aggressive tendencies.
Pneumatically Balanced Heavy Truck Air Suspensions for Improved Roll Stability
Chen, Yang; Ahmadian, Mehdi; Peterson, Andrew (SAE International, 2015-01-01)
This study provides a simulation evaluation of the effect of maintaining balanced airflow, both statically and dynamically, in heavy truck air suspensions on vehicle roll stability. The model includes a multi-domain evaluation of the truck multi-body dynamics combined with detailed pneumatic dynamics of drive-axle air suspensions. The analysis is performed based on a detailed model of the suspension's pneumatics, from the main reservoir to the airsprings, of a new generation of air suspensions with two leveling valves and air hoses and fittings that are intended to increase the dynamic bandwidth of the pneumatic suspensions. The suspension pneumatics are designed such that they are able to better respond to body motion in real time. Specifically, this study aims to better understand the airflow dynamics and how they couple with the vehicle dynamics. The pneumatic model is coupled with a roll-plane model of the truck to evaluate the effect of the suspension pneumatic dynamics on the body roll, as well as the force transmission to the sprung mass. The results of the study show that maintaining a balanced airflow through the suspension improves the dynamic responsiveness of the suspension to steering, causing less body roll.
Quantifying the effect of roadway, driver, vehicle, and location characteristics on the frequency of longitudinal and lateral accelerations
Ali, Gibran; McLaughlin, Shane B.; Ahmadian, Mehdi (Pergamon-Elsevier, 2021-10-01)
The purpose of this study is to understand and quantify the simultaneous effects of roadway speed category, driver age, driver gender, vehicle class, and location on the rates of longitudinal and lateral acceleration epochs. The rate of usual as well as harsh acceleration epochs are used to extract insights on driving risk and driver comfort preferences. However, an analysis of acceleration rates at multiple thresholds incorporating various effects while using a large-scale and diverse dataset is missing. This analysis will fill this research gap. Data from the 2nd Strategic Highway Research Program Naturalistic Driving Study (SHRP2 NDS) was used for this analysis. The rate of occurrence of acceleration epochs was modeled using negative binomial distribution based generalized linear mixed effect models. Roadway speed category, driver age, driver gender, vehicle class, and location were used as the fixed effects and the driver identifier was used as the random effect. Incidence rate ratios were then calculated to compare subcategories of each fixed effect. Roadway speed category has the strongest effect on longitudinal and lateral accelerations of all magnitudes. Acceleration epoch rates consistently decrease as the roadway speed category increases. The difference in the rates depends on the threshold and is up to three orders of magnitude. Driver age is another significant factor with clear trends for longitudinal and lateral acceleration epochs. Younger and older drivers experience higher rates of longitudinal accelerations and decelerations. However, the rate of lateral accelerations consistently decreases with age. Vehicle class also has a significant effect on the rate of harsh accelerations with minivans consistently experiencing lower rates.
Rail Surface Measurement And Multi-Scale Modeling Of Wheel-Rail Contact
Alemi, Mohammad Mehdi; Taheri, Saied; Ahmadian, Mehdi (ASME, 2016-01-01)
In railroad industries, one of the most important concepts is the ability to model and estimate the friction between the rail and the wheels. Overall, creating a general friction model is a challenging task because friction is influenced by different factors such as surface metrology, properties of materials in contact, surface contamination, flash temperature, normal load, sliding velocity, surface deformation, inter-surface adhesion, etc. Moreover, increase in the number of interfering factors in the process would add to the complexity of the friction model. Therefore, reliable prediction of the friction both theoretically and empirically is sensitive to how the model parameters are measured. Due to both safety and energy concerns, any attempts towards a better understanding of wheel/rail contact are considered important for the railroad industry. In this study, surface characteristics of four rail surfaces were measured at 20 microns over a rectangular area using a portable Nanovea Jr25 optical surface profilometer and the results were studied using various statistical procedures and Fractal theory. Furthermore, a 2D rectangular area was measured in this study because 1D height profile doesn’t capture all the necessary statistical properties of the surface. For surface roughness characterization, the 3D parameters such as root-mean-square (RMS) height, skewness, kurtosis and other important parameters were obtained according to ISO 25178 standard. To verify the statistical results and fractal analysis, a British Pendulum Skid Resistance Tester was used to measure the average sliding coefficients of friction based on several experiments over a 5 cm contact length for all four rail sections. The results supported this fact that the rail surface with lower fractal dimension number has the lower friction. In effect, the larger fractal dimension number simply would add more microtexture features to the contact surface which potentially increases the friction. This paper will discuss the results and the next steps towards a better understanding of the friction potential between the wheels and the track.
Simulation Evaluation on the Rollover Propensity of Multi-Trailer Trucks at Roundabouts
Chen, Yang; Zheng, Xiaohan; Peterson, Andrew; Ahmadian, Mehdi (SAE International, 2019-01-01)
The main intent of this study is to provide a simulation analysis of rollover dynamics of multi-trailer commercial vehicles in roundabouts. The results are compared with conventional tractor-semitrailer with a single 53-ft trailer for roundabouts that are of typical configuration to those in the U.S. cities. The multi-trailer commercial vehicles that are considered in this study are the A-double trucks commonly operated in the U.S. roads with the trailer length of 28 ft, 33 ft, and 40 ft. The multi-body dynamic models for analyzing the rollover characteristics of the trucks in roundabouts are established in TruckSim®. The models are intended to be used to assess the maximum rollover indexes of each trailer combination subjected to various circulating speeds for two types of roundabouts, 140-ft single-lane and 180-ft double-lane. The simulation results suggest that the 40-ft double has rollover speed thresholds 2-9 mph lower (more vulnerable to rolling over) as compared with the conventional 53-ft semi-trailer-truck. The lower roll stability for the 40-ft A-train configuration is attributed to its pintle-hitch coupling that allows for a certain amount of roll degree of freedom between the front and rear trailers. In addition, the worse tracking performance of the 40-ft double due to its longer wheelbase contributes to the heavier use of truck apron, greatly increasing the chance of rollover. The results also indicate that the 28-ft and 33-ft double-trailer trucks possess better maneuverability (less off-tracking) and can tolerate the rollover speed 1-3 mph higher than that of the 53-ft single-trailer truck. Furthermore, it is found that increasing the trailer from 28 ft to 33 ft results in the truck slightly less prone to rollover crashes, because of their longer wheelbase providing a slight amount of additional roll stability.
The Surface Accelerations Reference— A Large-Scale, Interactive Catalog of Passenger Vehicle Accelerations
Ali, Gibran; McLaughlin, Shane; Ahmadian, Mehdi (IEEE, 2023-04)
There is a need for a large-scale, real world, diverse, and context rich vehicle acceleration catalog that can be used to design, analyze, and compare various intelligent transportation systems. This paper fulfills three primary objectives. First, it provides such a catalog through the Surface Accelerations Reference, which is openly available as an interactive analytics tool as well as an open and downloadable dataset. The Surface Accelerations Reference statistically describes the driving profiles of about 3,500 individuals contributing 34 million miles of continuous driving data collected in the Second Strategic Highway Research Program Naturalistic Driving Study (SHRP 2 NDS). These profiles were created by summarizing billions of longitudinal and lateral acceleration epochs experienced by the participants. Second, this paper introduces a standardized methodology for creating such a catalog so that similar acceleration profiles can be produced for other human cohorts or automated driving systems. Finally, the data are used to analyze the effect of roadway speed category on the rates of lateral and longitudinal acceleration epochs at various thresholds. It is observed that, for the median driver, the rates of epochs are up to three orders of magnitude higher on low-speed roads as compared to high-speed roads. This catalog will facilitate intelligent vehicle system designers to compare and tune their systems for safer driving experiences. It will also allow agencies with similar data to create comparable catalogs facilitating safety and behavioral comparisons between populations. Datasets: https://github.com/gibran-ali/surface-accelerations-reference.
Variable Volumetric Stiffness Fluid Mount Design
Vahdati, Nader; Ahmadian, Mehdi (Hindawi, 2004-01-01)
Passive fluid mounts are commonly used in the automotive and aerospace applications to isolate the cabin from the engine noise and vibration. Due to manufacturing and material variabilities, no two identical fluid mount designs act the same. So, fluid mounts are tuned one by one before it is shipped out to customers. In some cases, for a batch of fluid mounts manufactured at the same time, one is tuned and the rest is set to the same settings. In some cases they are shipped as is with its notch frequency not being in its most optimum location. Since none of the passive fluid mount parameters are controllable, the only way to tune the mount is to redesign the mount by changing fluid, changing inertia track length or diameter, or changing rubber stiffness. This trial and error manufacturing process is very costly. To reduce the fluid mount notch frequency tuning cycle time, a new fluid mount design is proposed. In this new fluid mount design, the notch frequency can be easily modified without the need for any redesigns. In this paper, the new design concept, and its mathematical model and simulation results will be presented.
When is it too late to brake?
Chen, Yang; Zhang, Zichen; Neighborgall, Campbell; Ahmadian, Mehdi (Taylor & Francis, 2022-11-22)
This paper provides a simulation analysis of the braking action that would prevent untripped rollovers of long combination vehicles (LCV) in turns when the entry speed into a turn exceeds the vehicle’s threshold. A co-simulation model is used to integrate the details of truck pneumatic brakes (developed in Simulink®) in a TruckSim® model. The models are validated with field-test data. Using the validated models, various braking initiation times (relative to the start of steering) are performed for a 150-ft J-turn. The simulation results reveal that at higher speeds, there is very little time for the driver to initiate braking before it is too late to avoid a rollover, referred to as Critical Brake Initiation Time (CBIT). For instance, at an entry speed of 40 mph (64 km/hr), applying the brakes for a fully-loaded truck beyond 1.0s would not prevent a rollover. The results also indicate that increasing the speed by 25% from 40 mph (64 km/hr) to 50 mph (80 km/hr), reduces CBIT by 90%, from 1.0s to 0.1s. The effect of cargo load on CBIT is less dramatic than speed. At 40 mph (64 km/hr), increasing the cargo load by 47%, from 15,000 lb. (6800 kg) to 22,000lb. (10,000 kg), decreases the CBIT by 17%, from 1.2s to 1.0s.

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Browsing Scholarly Works, Mechanical Engineering by Author "Ahmadian, Mehdi"

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