04877nam 2200373 450 991064726290332120230324113634.03-8325-5578-1(CKB)5580000000512028(NjHacI)995580000000512028(EXLCZ)99558000000051202820230324d2022 uy 0engur|||||||||||txtrdacontentcrdamediacrrdacarrierAnalysis and Optimisation of a New Differential Steering Concept /Márton KuslitsBerlin, Germany :Logos Verlag Berlin GmbH,2022.1 online resource (147 pages) illustrationsList of Symbols and Acronyms IX -- 1 Introduction 1 -- 1.1 State of the Art in Differential Steering 3 -- 1.2 Motivation and Outline of the Thesis 6 -- 2 Vehicle Model with Differential Steering 9 -- 2.1 Model Definition and Kinematics 10 -- 2.2 Nonlinear Equations of Motion 15 -- 2.3 Tyre Models 18 -- 2.3.1 Modelling Considerations and Tyre Model Selection 18 -- 2.3.2 The Magic Formula Tyre Model 19 -- 2.3.3 Bore Torque Modelling 24 -- 2.3.4 Load Distribution and Load Transfer 27 -- 3 Symbolic Linearisation of Equations of Motion 29 -- 3.1 Symbolic Taylor Expansion 30 -- 3.2 State Reduction 34 -- 3.3 Representation in the Frequency Domain 35 -- 3.4 Application to the Vehicle Model 36 -- 3.4.1 Symbolic Manipulations on the Vehicle Model 36 -- 3.4.2 Validation of the Linearised Model 42 -- 4 Control of the Differential Steering System 45 -- 4.1 Full State Feedback Lateral Control for High-Speed Operation 45 -- 4.1.1 Closed-Loop System 46 -- 4.1.2 Feedback Gain Calculation Using the LQ-Principle 47 -- 4.1.3 Feedforward Gain Calculation 48 -- 4.1.4 Reference Model 49 -- 4.1.5 Gain Scheduling Extension 50 -- 4.2 Angle Tracking Controller for Low-Speed Operation 50 -- 4.2.1 PI Control Rule 51 -- 4.2.2 Control Design with Root Locus Method 51 -- 5 Simulations and Steering Characterisation 55 -- 5.1 Simulation Framework 55 -- 5.2 Simulation Studies 56 -- 5.2.1 Step Steer Simulation 56 -- 5.2.2 Steady-State Cornering 59 -- 5.2.3 Double Lane Change 61 -- 5.2.4 Low-Speed Manoeuvring 62 -- 5.3 Steering Performance Characterisation 63 -- 5.3.1 Dynamic Performance in the Time Domain 64 -- 5.3.2 Tracking Performance in the Frequency Domain 65 -- 5.3.3 Steady-State Cornering Performance 68 -- 5.3.4 Low-Speed Manoeuvring Performance 69 -- 6 Multi-Objective Steering Performance Optimisation 71 -- 6.1 Design Parametrisation 72 -- 6.2 Sensitivity Studies 73 -- 6.2.1 Preselection of Control Parameter τd 73 -- 6.2.2 Identification of the Most Influential Parameters 74 -- 6.3 Optimisation Strategy 79 -- 6.3.1 Formulation of the Optimisation Problem 79 -- 6.3.2 Optimisation Assistance by Response Surfaces 80 -- 6.3.3 Optimisation Procedure 82 -- 6.4 Discussion of Optimisation Results 86 -- 7 Disturbance Rejection of the Differential Steering System 91 -- 7.1 Wheel-Curb Collision Model 92 -- 7.2 Simulation Framework for Collision Investigations 96 -- 7.3 Collision Simulations 98 -- 8 Conclusions and Outlook 101 -- Appendix: Detailed Results of Model Derivation 103 -- A.1 Kinematics 103 -- A.2 Equations of Motion 108 -- A.3 Constraints 115 -- List of Figures 117 -- List of Tables 121 -- References 123.The emergence of electric drives opens up new opportunities in vehicle design. For example, powerful in-wheel motors pro -vide unprecedented flexibility in chassis design and are suitable for distributed drive solutions, although implying non-trivial vehicle dynamics control problems. This work aims at a new differential steering concept relying only on passive steering linkages where the necessary steering moment about the kingpins is generated by traction force differences produced by in-wheel motors. For the analysis of the proposed steering concept, a tailored multi-body system model is introduced along with the associated steering control system. In addition, this work explores the general applicability of such a new steering concept by using multi-objective optimisation. For this purpose, various design objectives and constraints are defined with respect to the dynamic, steady-state and low-speed steering performance of the vehicle. The resulting behaviour of the proposed steering concept is investigated by various simulation experiments demonstrating a comparable steering performance to that of conventional passenger cars.Electric vehiclesSteering-gearElectric vehicles.Steering-gear.623.862Kuslits Márton1348868NjHacINjHaclBOOK9910647262903321Analysis and Optimisation of a New Differential Steering Concept3086552UNINA03608nam 22006975 450 991042703730332120240724131416.09783030526474303052647X10.1007/978-3-030-52647-4(CKB)4100000011569187(MiAaPQ)EBC6396081(DE-He213)978-3-030-52647-4(Perlego)3481065(EXLCZ)99410000001156918720201113d2020 u| 0engurnn|008mamaatxtrdacontentcrdamediacrrdacarrierSurvival and Revival in Sweden's Court and Monarchy, 1718-1930 /by Fabian Persson1st ed. 2020.Cham :Springer International Publishing :Imprint: Palgrave Macmillan,2020.1 online resource (XXVI, 349 p. 20 illus.) Palgrave Studies in Modern Monarchy,2947-58729783030526467 3030526461 Includes bibliographical references and indexes.1. Resilient European courts: An introduction -- 2. Reviving a battered court and monarchy -- 3. Expansion and differentiation: Space at court -- 4. The court as the world -- 5. Winners and losers in the politics of familiarity -- 6. Survival and revolutions -- 7. Living etiquette -- 8. Ties of honour -- 9. The rift between monarchy and nobility -- 10. Magnificent, engaging, or remote -- Epilogue.This book will be the first to deeply analyze the Swedish court and monarchy through a longue duree perspective to show the crucial role of the court in maintaining a relationship between the monarchy and nobility throughout the eighteenth and nineteenth centuries. Sweden offered a different type of monarchy in comparison to the more often studied French and British monarchies. Sweden's court system successfully managed several coups and upheavals and maintained strong royal power throughout many transitions. Studying the Swedish model offers insights into how courts functioned in European principalities in general by providing a resilient and flexible framework for royal authority in tandem with the nobility. Based on extensive research conducted in the Swedish National Archives, the Palace Archives, and the Royal Library, the book presents some never-before published case studies and materials that drive the impact of court studies on many different areas of research, including gender studies, political science, and art history. .Palgrave Studies in Modern Monarchy,2947-5872EuropeHistory1492-ImperialismWorld politicsSocial historyCivilizationHistoryHistory of Early Modern EuropeImperialism and ColonialismPolitical HistorySocial HistoryCultural HistoryEuropeHistory1492-.Imperialism.World politics.Social history.CivilizationHistory.History of Early Modern Europe.Imperialism and Colonialism.Political History.Social History.Cultural History.321.609485Persson Fabian976006MiAaPQMiAaPQMiAaPQBOOK9910427037303321Survival and revival in Sweden's court and monarchy, 1718-19302222507UNINA