Temat: simulation model - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: E-REV’s hybrid vehicle range modeling
Autorzy:: Polak, F.
Powiązania:: https://bibliotekanauki.pl/articles/245454.pdf
Data publikacji:: 2018
Wydawca:: Instytut Techniczny Wojsk Lotniczych
Tematy:: battery
simulation model
electric vehicle
E-REV
Opis:: Article presents the influence of battery capacity and electric generator power on a series hybrid vehicle range. Vehicles equipped with increased battery capacity and small power generator are special type of series hybrid vehicles called Extended Range Electric Vehicles – E-REV. The increasing number of hybrid and electric vehicles increases the demand for durable and efficient sources of energy storage for vehicles. The hybrid vehicle's battery driven range is increased as battery power density is increased and its cost is decreased. This is due to the battery cell cost decreasing and improvement of cell chemistry. That cause higher and higher distance driven on electric mode in hybrid vehicles. First series hybrid vehicle engine power was equal to engine powered the vehicle’s wheels. Nowadays, series hybrid vehicles are more electric vehicles with small power generator (piston or turbine engine. In such a constructions, battery is used as an energy buffer and combustion engine is used more as emergency power supply. To minimize this phenomenon, manufacturers use counteracting solutions that include mounting additional cells in the battery that are switched on when the battery controller identifies a particular battery cell’s failure or high degradation. This is due to the deep and shallow discharges of the battery, the numbers of charging and discharging cycles, and the age and technology of battery packs. AMESim software was used for the simulation of the E-REV hybrid vehicle range. The research was based on modelling the range of the vehicle with different battery capacity works with power generator of different power. By modelling different capacity of battery and power of small generator, it is possible to determine the vehicle range.
Źródło:: Journal of KONES; 2018, 25, 2; 281-286
1231-4005
2354-0133
Pojawia się w:: Journal of KONES
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: Verification of LiFePO4 battery mathematic model
Autorzy:: Polak, F.
Powiązania:: https://bibliotekanauki.pl/articles/247386.pdf
Data publikacji:: 2016
Wydawca:: Instytut Techniczny Wojsk Lotniczych
Tematy:: battery
LiFePO4
test stand
simulation model
Opis:: Article presents verification of LiFePO4 battery simulation model. Verification of battery model was made to assure real parameters of battery cells used for simulation. Simulation model of battery and test stand, similar to the stand used for test on a real battery, was designed in AMESim software. Data of the battery and single cell of battery characteristics were verified to assure true parameters for further tests of power transmission system of the vehicle. For verification theoretical model of the battery, real tests of battery discharging were performed in laboratory. Test stand used for battery discharging was build. Test stand was equipped in water resistor enable to set up various loads of battery. Electrical parameters of battery and battery cell were collected by voltage probes and current clamps and stored in database. Test was performed in similar condition, each time starting with fully loaded battery. Tests ends when battery management system shut down battery main switch. Tests conditions, virtual and real, were performed during similar battery load. Comparing data from unloading tests in laboratory enable to verify data of battery and battery cells designed in AMESim software. Such verification provide reliable model of the used battery. Model of the battery can be used in further simulation test of vehicle, where battery is installed.
Źródło:: Journal of KONES; 2016, 23, 4; 397-402
1231-4005
2354-0133
Pojawia się w:: Journal of KONES
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 3.

Tytuł:: Research on effectiveness of transport means operational reliability and efficiency repairs
Autorzy:: Wdzięczny, A.
Muślewski, Ł.
Powiązania:: https://bibliotekanauki.pl/articles/242143.pdf
Data publikacji:: 2009
Wydawca:: Instytut Techniczny Wojsk Lotniczych
Tematy:: transport system
reliability
efficiency
failures
simulation model
Opis:: Systems of transport means operational use are such systems whose main goal is to carry out transport tasks on an assigned territory. In each transport system assurance of the used transport means availability, viewed as the object capability to accomplish the transport task, is of great importance. A certain number of damages results from natural wear of transport means elements which is a natural phenomenon, whereas other damages can be caused by in effective repair of the previous damage. In this way, within a short time, there occur the so called repetitive damages to the repaired element. This reflects improper organization of repairs, poor skills of the maintenance workers, limitations connected with wrong diagnosing before and after the repair. Damages occurring during means of transport operation involve bearing considerable costs while assuring the transport means operational reliability, as well as covering the losses connected with impossibility to accomplish the transport task. Finding out the causes of in effective repairs would reduce the costs that a transport company has to bear to provide efficient operation of means of transport. Times of resultant repairs and being unftt for use have been analyzed, as well as costs of repairs, spare parts, maintenance and operation.
Źródło:: Journal of KONES; 2009, 16, 2; 485-494
1231-4005
2354-0133
Pojawia się w:: Journal of KONES
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 4.

Tytuł:: On the need to maintain homogenous temperature field within the working agent at the intake of a jet engine turbine
Autorzy:: Pawlak, W. I.
Błachnio, J.
Powiązania:: https://bibliotekanauki.pl/articles/245331.pdf
Data publikacji:: 2014
Wydawca:: Instytut Techniczny Wojsk Lotniczych
Tematy:: turbine jet engine
simulation model
working agent temperature field
Opis:: The paper presents results from numerical experiments with use of the computer model of the SO-3 engine designed for simulations. The model has been purposefully modified to take account of the assumed nonhomogeneity of the temperature field within the working agent at the turbine intake. It turned out that such nonhomogeneity substantially affects dynamic and static properties of the engine are considered as an object of control since it leads to a lag of the acceleration time and to increasing in fuel consumption. The summarized simulation results demonstrate that the foregoing properties of a jet engine are subject to considerable deterioration in pace with gradual increase of the assumed non-homogeneity of the temperature field, The simulations made it possible to find out that variations of the temperature field non-homogeneity within the working agent at the turbine intake lead to huge fluctuation of the turbine rpm for the idle run, which enables a new look to the role of the so-called idle run valve and importance of that component within the supply and control system of the SO-3 engine.
Źródło:: Journal of KONES; 2014, 21, 1; 205-213
1231-4005
2354-0133
Pojawia się w:: Journal of KONES
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 5.

Tytuł:: The influence of electrochemical battery aging process on an electric vehicle’s range
Autorzy:: Polak, F.
Powiązania:: https://bibliotekanauki.pl/articles/247326.pdf
Data publikacji:: 2018
Wydawca:: Instytut Techniczny Wojsk Lotniczych
Tematy:: battery
simulation model
electric vehicle
LiFePO4
bateria
model symulacyjny
pojazd elektryczny
Opis:: This article presents the influence of aging processes of the electric vehicle’s electrochemical battery. The increasing number of hybrid and electric vehicles increases the demand for durable and efficient sources of energy storage for vehicles. The vehicle's declared range is reduced over time. This is due to the aging of the battery that causes loss of its capacity and loss of its power. To minimize this phenomenon, manufacturers use counteracting solutions that include mounting additional cells in the battery that are switched on when the battery controller identifies a particular battery cell’s failure or high degradation. This is due to the deep and shallow discharges of the battery, the number of charge and discharge cycles, and the age and technology of battery packs. AMESim software was used for the simulation of the electric vehicle. The research was based on modelling the range of the vehicle whose cell capacity includes processes related to aging of the battery. An aging cell algorithm causes the capacity to drop and consequently reduces the range of one full charge. By modelling aging processes, it is possible to determine the battery’s probable capacity loss during vehicle use and to estimate how these processes affect the vehicle's range.
Źródło:: Journal of KONES; 2018, 25, 1; 325-331
1231-4005
2354-0133
Pojawia się w:: Journal of KONES
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 6.

Tytuł:: Simulation model of combustion engine with direct injection of hydrogen
Autorzy:: Blažek, J.
Brabec, P.
Powiązania:: https://bibliotekanauki.pl/articles/242159.pdf
Data publikacji:: 2009
Wydawca:: Instytut Techniczny Wojsk Lotniczych
Tematy:: Simulation model of combustion engine
direct hydrogen injection
Ricardo Wave
combustion process
spark ignition engine
Opis:: Fuel mixture formation inside a cylinder has become used more frequently in spark ignition engines in recent years. gas internal combustion engines can also benefit from this concept as direct injection into an engine 's cylinder during the compression stroke not only increases its volumetric efficiency but also eliminates adverse anomalies in the combustion process. This paper focuses on the development of a simulation model for a spark ignition engine with direct hydrogen injection into a cylinder. The Wave software was used for the simulation. A part of the paper depicts the model's verification. The study utilized a three-cylinder internal combustion engine with the total cylinder volume of 1.2 dm3. The concept of the engine is based on new, high-pressure injectors with 10 MPa inlet pressure (gas-hydrogen injection directly into the engine cylinder). Utilization of internal fuel mixture formation can be beneficial due to its enabling the control of the combustion process and gaseous emission generation. From the viewpoint of the engine's design, however, internal fuel mixture utilisation is more complicated as injectors have to be built into the cylinder head. The actual engine construction is housed in laboratories of the Technical University of Liberec, Department of Vehicles and Engines.
Źródło:: Journal of KONES; 2009, 16, 3; 15-21
1231-4005
2354-0133
Pojawia się w:: Journal of KONES
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 7.

Tytuł:: Modelling of transport system operational reliability a Markov approach
Autorzy:: Smolarek, Leszek
Ziemska, Monika
Powiązania:: https://bibliotekanauki.pl/articles/243419.pdf
Data publikacji:: 2019
Wydawca:: Instytut Techniczny Wojsk Lotniczych
Tematy:: transport
road transport
simulation
Markov model
semi-Markov model
Opis:: The workability of a transport system is associated with performance and operational reliability. Operational reliability provides a measure of the probability that a transport system will realize transport process as intended. Performance reliability is an adequacy measure of transport process realization under specific environmental and traffic conditions. Transport system can be modelled as repairable, multistate, non-homogenous rectangular or dendrite system. This article provides the Markov and semi Markov models for estimation of the operational and performance reliability of city transport system. The system is semi homogenous it means that serial subsystems have the same reliability function. The reliability of any serial subsystem is exponential. The distribution of the repair time is any probability distribution. In case where the probability distribution of the repair time is exponential, the Markov process is used to construct simulation model. The simulation model was applied at Microsoft Excel. Many stochastic models in engineering, logistic and even finance or insurance are setup in a spreadsheet for simulation. The semi Markov model of the multistate reliability of repaired system is applied to the street system. The embedded Markov chain was used to count stationary probabilities. The possibility of application of the results is illustrated by an example for the systems with rectangular or dendrite shaped accordingly, consist of three types of elements.
Źródło:: Journal of KONES; 2019, 26, 4; 227-234
1231-4005
2354-0133
Pojawia się w:: Journal of KONES
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 8.

Tytuł:: Helicopter flight simulation based on URANS solver and virtual blade model
Autorzy:: Stalewski, Wieńczysław
Surmacz, Katarzyna
Powiązania:: https://bibliotekanauki.pl/articles/243583.pdf
Data publikacji:: 2019
Wydawca:: Instytut Techniczny Wojsk Lotniczych
Tematy:: helicopter flight simulation
URANS
Virtual Blade Model
Opis:: The methodology of simulation of a rotorcraft flight has been developed and applied to simulate several stages of flight of light helicopter. The methodology is based on coupling of several computational models of Computational Fluid Dynamics, Flight Dynamic. The essence of the methodology consists in calculation of aerodynamic forces acting on the flying rotorcraft by solving during the simulation the Unsteady Reynolds-Averaged Navier-Stokes (URANS) equations. In this approach, the rotorcraft is flying inside the computational 3D mesh modelling the space filled with the air. The flight simulation procedure is completely embedded in the URANS solver ANSYS FLUENT. Flow effects caused by rotating blades of main or tail rotor are modelled by application of the developed Virtual Blade Model (VBM). In this approach, real rotors are replaced by volume discs influencing the flow field similarly as rotating blades. Time-averaged aerodynamic effects of rotating blades are modelled using momentum source terms placed inside the volume-disc zones. The momentum sources are evaluated based on the Blade Element Theory,which associateslocal flow parameters in the blade sections with databases of 2D-aerodynamic characteristics of these sections. Apart of the VBM module, two additional UDF modules support the simulation of helicopter flight: the module responsible for modelling of all kinematic aspects of the flight and the module gathering the momentary aerodynamic loads and solves 6 DOFEquations describing a motion of the helicopter seen as solid body. Exemplary simulation of helicopter flight, starting from a hover, through an acceleration and fast flight until a deceleration and steep descent, has been discussed.
Źródło:: Journal of KONES; 2019, 26, 3; 211-217
1231-4005
2354-0133
Pojawia się w:: Journal of KONES
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 9.

Tytuł:: FEM temperature evaluation of model braking test in comparison to selected laboratory test
Autorzy:: Skorupka, Z.
Powiązania:: https://bibliotekanauki.pl/articles/247287.pdf
Data publikacji:: 2015
Wydawca:: Instytut Techniczny Wojsk Lotniczych
Tematy:: transport
air transport
simulation
friction materials
model braking
Opis:: Friction pair tests or model brake tests are one of the trials done in order to evaluate friction pair materials usefulness in full-scale brakes. Such tests are both time consuming and expensive, so most of the manufacturers want to reduce them as much as possible by using numerical simulations for both time and costs savings. It is not possible to eliminate laboratory tests entirely because of the safety regulations requirements. Without regulatory compliance, no brake material can be used in consumer products such as cars or airplanes. Nowadays most of the FEM programs are capable of simulate braking (friction) process in many of its aspects. Accuracy of calculations varies according to complexity of the model and phenomena taken into account. One of the interesting aspects of braking is the friction temperature generation especially due to its destructive impact on the vehicle brakes. Laboratory evaluation of the temperature can be performed in limited spectrum because of inaccessibility of the friction area. FEM calculations can help to determine temperature changes and temperature value during process. It also helps to determine temperature induced damaging conditions for the friction material or the whole brake design. In this paper author compares FEM of friction temperature calculations and laboratory test performed in Landing Gear Laboratory of Institute of Aviation in Warsaw where author works on daily basis. FEM simulation was created in order to resemble mentioned friction material test and to create model of the geometry of the tested material including test stand parts. All of the calculations were performed using COMSOL MULTIPHISICS software.
Źródło:: Journal of KONES; 2015, 22, 3; 213-219
1231-4005
2354-0133
Pojawia się w:: Journal of KONES
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 10.

Tytuł:: Simulation of pneumatic motor used in pneumobile
Autorzy:: Flis, K.
Pobędza, J.
Powiązania:: https://bibliotekanauki.pl/articles/245021.pdf
Data publikacji:: 2014
Wydawca:: Instytut Techniczny Wojsk Lotniczych
Tematy:: simulation
pneumatic motor
pneumobile
hybrid drive
mathematical model
Opis:: One of the alternative powertrain systems of cars, commercial vehicles and mobile machines are hybrid drives with pneumatic motors for compressed air. This paper presents a mathematical model and the results of simulation calculations of piston pneumatic motor. Mathematical model was based on the fundamental principles of mechanics, thermodynamics and rights of airflow. For simulation model parameterization, prototype of such engine was built and installed on dedicated test stand. Performed experimental research allowed achieving values of coefficients and components characteristics used for model estimation. One of the important tasks of this study was to create the control system of the compressed-air supplied engine. For this purpose an appropriate pneumatic and electronic component were selected and also an algorithm was created which would facilitate changing of the engine settings in order to obtain the best performance. Using elaborated simulation model, series of calculation were performed for different parameters of pneumatic motor, like cylinders diameter and stroke, length of the crank, compressed air pressure and valves size. A lot of attention was devoted to determine the influence of control system settings, such as valves opening and closing in reaction to crankshaft position, on motor properties. When discussing the results of calculations considerable attention was paid to the power, torque and efficiency values. To illustrate performance of designed engine, simplified model of light vehicle was used to calculate possible to achieve acceleration, velocity and travel distance.
Źródło:: Journal of KONES; 2014, 21, 3; 89-96
1231-4005
2354-0133
Pojawia się w:: Journal of KONES
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 11.

Tytuł:: Modelled phenomenon of burr formation during machining
Autorzy:: Preś, P.
Skoczyński, W.
Powiązania:: https://bibliotekanauki.pl/articles/248036.pdf
Data publikacji:: 2012
Wydawca:: Instytut Techniczny Wojsk Lotniczych
Tematy:: burr formation
cutting
finite element simulation
2D numerical model
Opis:: A model of burr formation on the edge of the workpiece in the course of machining is presented. The material being machined, the cutting tool and the machining parameters were modelled. Material properties and type of its deformations have been modelled with the use of a constitutive Johnson - Cook model. Material damage initiation criteria and associated damage evolution have been modelled with the use of the ductile damage and the Johnson- Cook damage initiation criterion. Simulations of the machining process for different depths of cut were carried out. The real burr formation presented by Hashimura was compared with the modelled one. The influence of the cutting parameters on the form and size of burr has been analysed. Calculations have been realised utilising finite element method with the use of nonlinear analysis in ABAQUS/Explicit environment. Based on simulation results, the assessment of the form and size of burr has been made. Burr height was used to evaluate its size, which was derived according to ISO 13715 standard. The goal was to obtain a model that reliably reflects the behaviour of material during machining, with particular emphasis on supporting the creation of cutting phenomenon of burr formation. The results of simulation and computational analysis confirmed that the model reflects the real behaviour of the material.
Źródło:: Journal of KONES; 2012, 19, 1; 333-338
1231-4005
2354-0133
Pojawia się w:: Journal of KONES
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 12.

Tytuł:: Modelling of thermodynamics, mass exchange and heat transfer of plasmatron plasma reactor for recycling of used electric and electronic components
Autorzy:: Szałatkiewicz, J.
Budny, E.
Szewczyk, R.
Powiązania:: https://bibliotekanauki.pl/articles/246576.pdf
Data publikacji:: 2016
Wydawca:: Instytut Techniczny Wojsk Lotniczych
Tematy:: model
simulation
recycling
energy recovery
combustion
environmental protection
electric waste
electronic waste
Opis:: New technologies and systems require precise insight of theirs parameters, which are in some cases difficult to measure. One of technique for obtaining of such data is simulation and modelling of objects, processes and theirs parameters. Application of mathematical modelling for thermodynamics, mass exchange and heat transfer calculation is presented in this article. Mathematical model of the plasmatron plasma reactor was developed and allows simulation of reactor and process parameters including: heat release during combustion, heat transfer from combustion process and exhaust gases to the reactors walls, temperature calculation inside the chamber, surface film conductance by convection and radiation, heat carried out with fumes, and other. The model was implemented in OCTAVE software and it can be calculated for relatively short time on single PC computer. Model of plasmatron reactor chamber allows quantitative simulation of the phenomena occurring in the exanimated process. Moreover, model allows answering how to control the process, and identification of correlations with sensitivity analysis. The article presents results of modelling of key process parameters of the plasma reactor essential for developed process understanding and analysis. Calculations results are interesting and important for further technology development for example, change of heat carried with fumes, or surface film conductance, which are hard to measure. Developed model offers good accuracy of calculations and correlation to measurements on experimental setup, and allows further optimization, scaling and development.
Źródło:: Journal of KONES; 2016, 23, 2; 357-363
1231-4005
2354-0133
Pojawia się w:: Journal of KONES
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 13.

Tytuł:: Simulation analysis of the effect of inlet pipe diameter on the cylinder filling of compression-ignition engine
Autorzy:: Lisowski, M.
Powiązania:: https://bibliotekanauki.pl/articles/247788.pdf
Data publikacji:: 2010
Wydawca:: Instytut Techniczny Wojsk Lotniczych
Tematy:: inlet pipe diameter
in-cylinder mass
numerical model
inlet system
simulation
combustion engines
Opis:: In this paper are presented the basic problems accompanying the flow of charge through compression-ignition engine inlet system. The flow of medium through inlet pipe to cylinder was assumed to be one-dimensional and described with mass, momentum and angular momentum conservation eąuations and energy consLrvation law. On the other hand, a zero-dimensional model described by mass-energy conservation equations was used to determine parameters of the medium in total cylinder volume. Simulations were carried out with the use of numerical programme in which McCormack's explicit method was applied to solve differential equations describing the flow of charge in inlet system. The McCormack explicit technique was used due to the fact that an earlier attempt at solving a numerical problem with the method of lines had not yielded desired effects in view of high instability. Simulation aimed at determining the mass of air remaining in engine cylinder after inlet valve closure. Simulation results are presented in the form of in-cylinder air mass versus crank angle characteristics for different inlet pipe diameters. The study results are also presented in the form of a summary table and a summary diagram, the latter enabling a comparison of results for different inlet pipe diameters.
Źródło:: Journal of KONES; 2010, 17, 4; 295-302
1231-4005
2354-0133
Pojawia się w:: Journal of KONES
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 14.

Tytuł:: Sensitivity analysis of steering system model
Autorzy:: Żardecki, D.
Powiązania:: https://bibliotekanauki.pl/articles/242406.pdf
Data publikacji:: 2009
Wydawca:: Instytut Techniczny Wojsk Lotniczych
Tematy:: car
steering system
piecewise linear model
simulation
sensitivity analysis
friction
freeplay
stick-slip
Opis:: The method of sensitivity analysis of mathematical model with strong non-linear characteristics is discussed in the paper. This model focuses on friction, as well as freeplay dynamics in a car steering system including stick-slip fenomena. Because of strong nonlinearities of the model, its sensitivity indexes can not be counted by classic sensitivity variation equations and classic mathematical analysis of smooth functions. Fortunately, nonlinear characteristics are described with using special piecewise - linear luz(...) and tar(...) projections. They have an original mathematical apparatus which secures parametrically made simplifications and enough regularity of the model (some details of analytical transformations are shown). Thanks to luz(...) and tar(...) projections the continuity of sensitivity indexes is secured but of course, the calculation of sensitivity indexes has to base on comparative simulation investigations. The paper presents example results of simulations of the steering system action (including stick-slip processes) for different values of friction as well as freeplay parameters (kinetic and static friction in king-pins, backlash in a steering gear). These simulations concern combined open road tests of a passenger car according to the ISO requirements (ISO 7401 - the ramp input on the steering wheel, then ISO 4138 - circular steady state motion, and finally the steering wheel released, all with a constant speed 80 km/h).
Źródło:: Journal of KONES; 2009, 16, 1; 571-581
1231-4005
2354-0133
Pojawia się w:: Journal of KONES
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 15.

Tytuł:: Modelling of eps type steering systems including freeplay and friction in steering mechanism
Autorzy:: Żardecki, D.
Powiązania:: https://bibliotekanauki.pl/articles/242015.pdf
Data publikacji:: 2011
Wydawca:: Instytut Techniczny Wojsk Lotniczych
Tematy:: EPS system
freeplay
friction
piecewise linear model
simulation studies of car open tests
Opis:: Electric power steering (EPS) systems are important ingredients of modern cars. Basing on mechanic (steering mechanism), electric (electric motor), electronic (controller) and mechatronic (sensors) components, they are typical servo mechanic devices, which support drivers handling action. The paper presents mathematical modelling of EPS systems treated as multi body mechanisms with power assistance, including strong non-linear phenomena caused by a friction (especially in king-pins) and a feeplay (in gear-box). Mathematical model consists of several variable structure ordinary differential equations with piecewise linear characteristics. Model non-linearities are described with using special piecewise linear luz (…) and tar(...) projections. These projections and their original mathematical apparatus facilitate synthesis and analysis of the model. The model equations are derived from constitutive equations and control rules. This method can be also applied for synthesis of other non-linear multi-body electromechanical systems. The elaborated models of EPS systems have the forms ready to use in simulation programs. Some examples of simulation studies of the open car tests due to sensitivity analysis of steering system model are also presented in the paper.
Źródło:: Journal of KONES; 2011, 18, 1; 689-696
1231-4005
2354-0133
Pojawia się w:: Journal of KONES
Dostawca treści:: Biblioteka Nauki

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