International Journal of Automotive and Mechanical Engineering, 2013
This paper presents a detailed derivation of a permanent magnet synchronous motor, which may be u... more This paper presents a detailed derivation of a permanent magnet synchronous motor, which may be used as the electric power train for the simulation of a hybrid electric vehicle. A torque tracking control of the permanent magnet synchronous motor is developed by using an adaptive proportional-integral-derivative controller. Several tests such as step function, saw tooth function, sine wave function and square wave function were used in order to examine the performance of the proposed control structure. The effectiveness of the proposed controller was verified and compared with the same system under a PID controller and the desired control. The result of the observations shows that the proposed control structure proves to be effective in tracking the desired torque with a good response. The findings of this study will be considered in the design, optimisation and experimentation of series hybrid electric vehicle.
International Journal of Science and Engineering, 2010
This study is performed primarily to investigate the effect of activated carbon on oxygen separat... more This study is performed primarily to investigate the effect of activated carbon on oxygen separation performance of polyethersulfone mixed matrix membrane. In this study, polyethersulfone (PES)-activated carbon (AC) mixed matrix membranes were fabricated using dry/wet technique. This study investigates the effect of polyethersulfone concentration and activated carbon loading on the performance of mixed matrix membrane in terms of permeability and selectivity of O2/N2 gas separation. The fabricated flat sheet mixed matrix membranes were characterized using permeation test, Field Emission Scanning Electron Microscopy (FESEM) analysis and Differential Scanning Calorimetry (DSC). It was found that the activated carbon loading affected the gas separation performance of mixed matrix membrane. PES- 1wt% AC membrane yielded 3.75 of O 2 /N 2 selectivity, however 5 wt% of AC can produced 5 O 2 /N 2 selectivity
A new type of mixed matrix membrane consisting of functionalized carbon nanotubes (CNTs) and poly... more A new type of mixed matrix membrane consisting of functionalized carbon nanotubes (CNTs) and polyethersulfone (PES) is prepared for biogas purification. PES mixed matrix membrane with and without modification of carbon nanotubes were prepared by a dry/wet phase inversion technique using a pneumatically flat sheet membrane casting machine system. The modified carbon nanotubes were prepared by treating the carbon nanotubes with chemical modification using Dynasylan Ameo (DA) silane agent to allow PES chains to be grafted on carbon nanotubes surface. The results from the FESEM, DSC and FTIR analysis confirmed that chemical modification on carbon nanotubes surface had taken place. Meanwhile, the nanogaps in the interface of polymer and carbon nanotubes were appeared in the PES mixed matrix membrane with unmodified of carbon nanotubes. The modified carbon nanotubes mixed matrix membrane increases the mechanical properties, the productivity and purity of biogas. For PES-modified carbon na...
Act No. 20 of 2003 on National Education System, stating that education aimed at developing stude... more Act No. 20 of 2003 on National Education System, stating that education aimed at developing students' potentials in order to become humans being that are faithful and pious to Almighty God, noble, healthy, knowledgeable, skilled, creative, independent and become democratic and responsible citizens. To achieve this goal, one of the study area that should be learned by students in the school is Islamic Education. During the implementation of religious education in every school is still weak. The problem which became a classic analysis of the weakness of Islamic Education in Indonesia is a matter of lack of lesson time allocation, especially in public schools. Besides, through the method of observation method and literature review for the collecting dataalso can be found out an issue of the students who have marks in of Fiqh study of Islamic Education, especiallyin chapter obligatory prayer is lower than other fields of study. An alternative solution that can be used to improve students' scores and increase understanding of the subject matter is to create an interactive learning media of PAI lesson in chapter olbigatory prayer of Fiqh study for second grade student of Elementary School by using multimedia technology. By this learning media, it is expected that students can know more what prayer is and it can be motivation to practice the values of religious education.
This paper presents a small scale autonomous ground vehicle which is configured using sensors. Th... more This paper presents a small scale autonomous ground vehicle which is configured using sensors. The autonomous small scaled vehicle has been engineered to have dynamic behaviours equivalent with real ground vehicle. The main objective of the using sensors configuration is to obtain the dynamic behaviour of scaled vehicle. Sensors configuration are equipped with electronic instruments, Arduino Duemilanove, wireless communication system, data acquisition system, and numerous sensors. This study is conducted by simulation and experiment.
Passenger ride comfort is an important factor in railway vehicle services. However, passenger rid... more Passenger ride comfort is an important factor in railway vehicle services. However, passenger ride comfort is sometimes affected by the vibrations resulting from the track irregularities. It will be critical when the track is exposed to prolonged sun’s heat and lack of track maintenance. This means that the optimization of passive suspension parameters alone could not cope with these cases. Semi-active suspension system for railway vehicles has been developed as a way to solve these problems. The technology of semi-active suspension is widely used especially in the railway vehicle application. Magnetorheological (MR) damper is one of the applications of the concept of semi-active suspension. However, there are a variety of criteria for MR dampers based on usage. To meet the requirements of railway vehicle suspension system, a MR damper have been developed. The criteria for the MR damper are obtained experimentally. Then, the model for the MR damper is developed using Interpolated Si...
Passenger ride comfort is an important factor in railway vehicle services. However, passenger rid... more Passenger ride comfort is an important factor in railway vehicle services. However, passenger ride comfort is sometimes affected by the vibrations resulting from the track irregularities. It will be critical when the track is exposed to prolonged sun’s heat and lack of track maintenance. This means that the optimization of passive suspension parameters alone could not cope with these cases. Semi-active suspension system for railway vehicles has been developed as a way to solve these problems. The technology of semi-active suspension is widely used especially in the railway vehicle application. Magnetorheological (MR) damper is one of the applications of the concept of semi-active suspension. However, there are a variety of criteria for MR dampers based on usage. To meet the requirements of railway vehicle suspension system, a MR damper have been developed. The criteria for the MR damper are obtained experimentally. Then, the model for the MR damper is developed using Interpolated Si...
This chapter presents a successful implementation of PID controller for a pneumatically actuated ... more This chapter presents a successful implementation of PID controller for a pneumatically actuated active roll control suspension system in both simulation and experimental studies. For the simulation model, a full vehicle model which consists of ride, handling and tire subsystems to study vehicle dynamics behavior in lateral direction is derived. The full vehicle model is then validated experimentally using an instrumented experimental vehicle based on the driver input from the steering wheel. Two types of vehicle dynamics test are performed for the purpose of model validation namely step steer test and double lane change test. The results of model validation show that the behaviors of the model closely follow the behavior of a real vehicle with acceptable error. An active roll control (ARC) suspension system is then developed on the validated full vehicle model to reduce unwanted vehicle motions during cornering maneuvers such as body roll angle, body roll rate, vertical acceleration of the body and body heave. The proposed controller structure for the ARC system is PID control with roll moment rejection loop. The ARC system is then implemented on an instrumented experimental vehicle in which four units of pneumatic actuators are installed in parallel arrangement with the passive suspension system. The 1 www.intechopen.com results of the study shows that the proposed control structure is able to significantly improve the dynamics performance of the vehicle during step steer and double lane change maneuvers compared to a passive vehicle system. It can also be noted that the additional roll moment rejection loop is able to further improve the performance of the PID controller for the ARC system.
ABSTRACT This paper presents gap and torque tracking controls of a new braking system for Brake-b... more ABSTRACT This paper presents gap and torque tracking controls of a new braking system for Brake-by-Wire (BBW) using a wedging mechanism. A validation technique known as Model-in-the-Loop Simulation (MILS) is proposed to evaluate the effectiveness of EWB actuator and model. MILS is divided into two types of techniques, which are Hardware-in-the-Loop Simulation (HILS) using real EWB actuator and Software-in-the-Loop Simulation (SILS) using Gaussian cumulative distribution technique. A brake test rig is developed for HILS using EWB actuator, Electronic Control Unit, National Instrument board, xPC Host and Target PC. Meanwhile, mathematical equations are developed for SILS using Matlab Simulink. Both techniques are used to evaluate the performance of EWB actuator and EWB's mathematical model in controlling the gap and torque using various inputs. The results show that the responses from the actuator and EWB model closely followed the desired trajectories, indicating that EWB is capable to be used for vehicle active braking.
This manuscript provides the design of the engine mounting for Formula Varsity Race Car. Several ... more This manuscript provides the design of the engine mounting for Formula Varsity Race Car. Several concept designs were generated for the engine mounting and the final design was selected through in 3D modeling software namely CATIA V5 CAD software during the design phase in this project. The Aluminum Alloy 6061 T6 was selected as the lightweight engine mounting material due to high strength, light weight and versatility with many manufacturing processes. The light weight engine mounting was analyzed using finite element analysis in bending and yield strength cases. The result of the engine mounting analysis showed that the engine mounting is able to perform safely as per design requirement.
International Journal of Vehicle Systems Modelling and Testing, 2013
ABSTRACT Most automotive vehicles utilise hydraulic system for actuating braking mechanism produc... more ABSTRACT Most automotive vehicles utilise hydraulic system for actuating braking mechanism producing brake torque to wheels. Besides being disadvantageous on weight, space and system, hydraulic brake requires high energy to flow brake fluid for pushing piston. Leakage and vaporisation of hydraulic fluid are main problems that degrade braking performance of hydraulic brake system. A new design of electronic wedge brake system is presented to replace and to overcome the shortcomings of hydraulic brake system. The proposed electronic wedge brake system consists of piston, wedge mechanism, worm gear and an electric motor. Rotational motion of worm gear driven by electric motor will activate wedge mechanism causing piston to displace linearly. Displacement of piston will generate clamping force between pads and disk thus producing brake torque. The proposed electronic wedge brake system is developed and its behaviour is investigated using brake test rig. The proposed electronic wedge brake system is modelled mathematically. Parameters for model were obtained experimentally. The model was validated by comparing response of the model with experimental rig.
International Journal of Vehicle Systems Modelling and Testing, 2010
This paper provides a detailed derivation of a full vehicle model, which may be used to simulate ... more This paper provides a detailed derivation of a full vehicle model, which may be used to simulate the behaviour of a vehicle in longitudinal direction. The 14 degrees of freedom (14-DOF) vehicle model is integrated with an analytical tyre dynamics using Calspan tyre model. The full vehicle model was validated experimentally with an instrumented experimental vehicle based on the driver input from brake or throttle pedals. Several transient handling tests were performed, namely sudden acceleration and sudden braking test. Comparisons of the experimental result and model response with sudden braking and throttling imposed motion are made. The results of model validation show that the trends between simulation results and experimental data are almost similar with acceptable error. An adaptive PID control strategy was implemented on the validated full vehicle model to reduce unwanted vehicle motions in longitudinal direction during sudden braking and throttling manoeuvre. The results show that the proposed control structure is able to significantly improve the dynamic performance of the vehicle during sudden braking and sudden acceleration under various conditions.
This paper presents the development of a PID controller for an Antilock Braking System (ABS) usin... more This paper presents the development of a PID controller for an Antilock Braking System (ABS) using vehicle longitudinal model. A Five Degree of Freedom (5-DOF) vehicle longitudinal dynamic model was derived and integrated with an analytical tyre dynamics, the Magic Tyre model. Several
This paper presents a derivation of a full vehicle model to study vehicle dynamics behaviour in l... more This paper presents a derivation of a full vehicle model to study vehicle dynamics behaviour in longitudinal direction. The full vehicle model is then validated using an instrumented experimental vehicle based on the driver input from brake and throttle pedals. Two tests ...
The high spatial resolution of precipitation distribution is a major concern for experts in envir... more The high spatial resolution of precipitation distribution is a major concern for experts in environmental research and planning. This paper establishes a combination of multivariate regression algorithm and spatial analysis to predict distribution of precipitation, considering the four topographical factors of altitude, slope, aspect and location. Annual average and seasonal rainfall data were collected in nine rain gauges in Ulu Kinta Catchment in East Malaysia from 1974 to 2010. To examine records and fill gaps from long-term rain gauges, homogeneity analysis was performed using the double-mass curve method. Estimated missing rainfall data were also tested using index gauges from network rainfall stations. Multivariate regression analysis was conducted to propose an empirical equation for the study area. Topographical factors were considered from a 90 m resolution digital elevation model. The multivariate regression model was found to clarify 74% of spatial variability of precipitation on annual average and 78% during wet season. However, the correlation coefficient for the dry season decreased sharply to 63%. By using the kriging interpolation method, the estimated annual average improved to 78.4%; the average improved to 65.2 and 80.3% in the dry and wet seasons, respectively. This confirms the efficiency and significance of the model and its potential for use in other tropical catchments.
ABSTRACT Check dams are commonly used to stabilize sedimentation, reduce the through water veloci... more ABSTRACT Check dams are commonly used to stabilize sedimentation, reduce the through water velocity, limit catchment erosion, and increase the reservoir storage capacity of a dam. In the study area, three check dams were constructed before the Sultan Azlan Shah Dam by the Perak Water Board (LAP) to control sedimentation. This area is an active erosion environment because of the erodible material in the stream and check dams.The effectiveness of the check dams (CD1 to CD3) was investigated to identify how the construction of such transverse structures can be used to control the soil erosion rates and the reservoir storage capacity of the dam. Toward this end, first geomorphic maps of the channel bed in the upstream and the downstream region were obtained. Then, the distribution of bed material in the study area was determined through sampling at 20 individual locations along the river. Finally, the impact of check dams on settling particles was calculated on the basis of critical velocity. Cross sections of the river showed a narrow, steep channel upstream, and a wide, shallow channel downstream. The median grain size distribution (D50) was between 2 mm before CD1 to 0.082 mm after CD3 with a minimum measured velocity of 0.24 m/s. The critical velocity showed a significant correlation with measured velocity. Furthermore, the velocity of the river and the dimension of the check dams were suitable for trapping coarse particles, especially at the last check dam (CD3).
This manuscript provides a detailed derivation of a full vehicle model, which may be used to simu... more This manuscript provides a detailed derivation of a full vehicle model, which may be used to simulate the behavior of a vehicle in longitudinal direction. The dynamics of a 14 degrees of freedom (14-DOF) vehicle model is derived and integrated with an analytical tire ...
This paper presents a 14DOF full vehicle model which consists of ride, handling and tire subsyste... more This paper presents a 14DOF full vehicle model which consists of ride, handling and tire subsystems to study vehicle dynamics behavior. The full vehicle model is then verified with well-known vehicle dynamics software namely CarSimEd based on the driver input from the steering wheel. Three types of vehicle dynamics test are performed for the purpose of model verification namely step steer test, double lane change test and slalom test. The results of model verification show that the behaviors of the model closely follow the behaviors obtained from CarSimEd software with acceptable error.
This paper presents about the development of an Antilock Braking System (ABS) using quarter vehic... more This paper presents about the development of an Antilock Braking System (ABS) using quarter vehicle model and control the ABS using different type of controllers. Antilock braking system (ABS) is an important part in vehicle system to produce additional safety for drivers. In general, Antilock braking systems have been developed to reduce tendency for wheel lock and improve vehicle control during sudden braking especially on slippery road surfaces. In this paper, a variable structure controller has been designed to deal with the strong nonlinearity in the design of ABS controller. The controllers such as PID used as the inner loop controller and Fuzzy Logic as outer loop controller to develop as ABS model to control the stopping distance and longitudinal slip of the wheel.
International Journal of Automotive and Mechanical Engineering, 2013
This paper presents a detailed derivation of a permanent magnet synchronous motor, which may be u... more This paper presents a detailed derivation of a permanent magnet synchronous motor, which may be used as the electric power train for the simulation of a hybrid electric vehicle. A torque tracking control of the permanent magnet synchronous motor is developed by using an adaptive proportional-integral-derivative controller. Several tests such as step function, saw tooth function, sine wave function and square wave function were used in order to examine the performance of the proposed control structure. The effectiveness of the proposed controller was verified and compared with the same system under a PID controller and the desired control. The result of the observations shows that the proposed control structure proves to be effective in tracking the desired torque with a good response. The findings of this study will be considered in the design, optimisation and experimentation of series hybrid electric vehicle.
International Journal of Science and Engineering, 2010
This study is performed primarily to investigate the effect of activated carbon on oxygen separat... more This study is performed primarily to investigate the effect of activated carbon on oxygen separation performance of polyethersulfone mixed matrix membrane. In this study, polyethersulfone (PES)-activated carbon (AC) mixed matrix membranes were fabricated using dry/wet technique. This study investigates the effect of polyethersulfone concentration and activated carbon loading on the performance of mixed matrix membrane in terms of permeability and selectivity of O2/N2 gas separation. The fabricated flat sheet mixed matrix membranes were characterized using permeation test, Field Emission Scanning Electron Microscopy (FESEM) analysis and Differential Scanning Calorimetry (DSC). It was found that the activated carbon loading affected the gas separation performance of mixed matrix membrane. PES- 1wt% AC membrane yielded 3.75 of O 2 /N 2 selectivity, however 5 wt% of AC can produced 5 O 2 /N 2 selectivity
A new type of mixed matrix membrane consisting of functionalized carbon nanotubes (CNTs) and poly... more A new type of mixed matrix membrane consisting of functionalized carbon nanotubes (CNTs) and polyethersulfone (PES) is prepared for biogas purification. PES mixed matrix membrane with and without modification of carbon nanotubes were prepared by a dry/wet phase inversion technique using a pneumatically flat sheet membrane casting machine system. The modified carbon nanotubes were prepared by treating the carbon nanotubes with chemical modification using Dynasylan Ameo (DA) silane agent to allow PES chains to be grafted on carbon nanotubes surface. The results from the FESEM, DSC and FTIR analysis confirmed that chemical modification on carbon nanotubes surface had taken place. Meanwhile, the nanogaps in the interface of polymer and carbon nanotubes were appeared in the PES mixed matrix membrane with unmodified of carbon nanotubes. The modified carbon nanotubes mixed matrix membrane increases the mechanical properties, the productivity and purity of biogas. For PES-modified carbon na...
Act No. 20 of 2003 on National Education System, stating that education aimed at developing stude... more Act No. 20 of 2003 on National Education System, stating that education aimed at developing students' potentials in order to become humans being that are faithful and pious to Almighty God, noble, healthy, knowledgeable, skilled, creative, independent and become democratic and responsible citizens. To achieve this goal, one of the study area that should be learned by students in the school is Islamic Education. During the implementation of religious education in every school is still weak. The problem which became a classic analysis of the weakness of Islamic Education in Indonesia is a matter of lack of lesson time allocation, especially in public schools. Besides, through the method of observation method and literature review for the collecting dataalso can be found out an issue of the students who have marks in of Fiqh study of Islamic Education, especiallyin chapter obligatory prayer is lower than other fields of study. An alternative solution that can be used to improve students' scores and increase understanding of the subject matter is to create an interactive learning media of PAI lesson in chapter olbigatory prayer of Fiqh study for second grade student of Elementary School by using multimedia technology. By this learning media, it is expected that students can know more what prayer is and it can be motivation to practice the values of religious education.
This paper presents a small scale autonomous ground vehicle which is configured using sensors. Th... more This paper presents a small scale autonomous ground vehicle which is configured using sensors. The autonomous small scaled vehicle has been engineered to have dynamic behaviours equivalent with real ground vehicle. The main objective of the using sensors configuration is to obtain the dynamic behaviour of scaled vehicle. Sensors configuration are equipped with electronic instruments, Arduino Duemilanove, wireless communication system, data acquisition system, and numerous sensors. This study is conducted by simulation and experiment.
Passenger ride comfort is an important factor in railway vehicle services. However, passenger rid... more Passenger ride comfort is an important factor in railway vehicle services. However, passenger ride comfort is sometimes affected by the vibrations resulting from the track irregularities. It will be critical when the track is exposed to prolonged sun’s heat and lack of track maintenance. This means that the optimization of passive suspension parameters alone could not cope with these cases. Semi-active suspension system for railway vehicles has been developed as a way to solve these problems. The technology of semi-active suspension is widely used especially in the railway vehicle application. Magnetorheological (MR) damper is one of the applications of the concept of semi-active suspension. However, there are a variety of criteria for MR dampers based on usage. To meet the requirements of railway vehicle suspension system, a MR damper have been developed. The criteria for the MR damper are obtained experimentally. Then, the model for the MR damper is developed using Interpolated Si...
Passenger ride comfort is an important factor in railway vehicle services. However, passenger rid... more Passenger ride comfort is an important factor in railway vehicle services. However, passenger ride comfort is sometimes affected by the vibrations resulting from the track irregularities. It will be critical when the track is exposed to prolonged sun’s heat and lack of track maintenance. This means that the optimization of passive suspension parameters alone could not cope with these cases. Semi-active suspension system for railway vehicles has been developed as a way to solve these problems. The technology of semi-active suspension is widely used especially in the railway vehicle application. Magnetorheological (MR) damper is one of the applications of the concept of semi-active suspension. However, there are a variety of criteria for MR dampers based on usage. To meet the requirements of railway vehicle suspension system, a MR damper have been developed. The criteria for the MR damper are obtained experimentally. Then, the model for the MR damper is developed using Interpolated Si...
This chapter presents a successful implementation of PID controller for a pneumatically actuated ... more This chapter presents a successful implementation of PID controller for a pneumatically actuated active roll control suspension system in both simulation and experimental studies. For the simulation model, a full vehicle model which consists of ride, handling and tire subsystems to study vehicle dynamics behavior in lateral direction is derived. The full vehicle model is then validated experimentally using an instrumented experimental vehicle based on the driver input from the steering wheel. Two types of vehicle dynamics test are performed for the purpose of model validation namely step steer test and double lane change test. The results of model validation show that the behaviors of the model closely follow the behavior of a real vehicle with acceptable error. An active roll control (ARC) suspension system is then developed on the validated full vehicle model to reduce unwanted vehicle motions during cornering maneuvers such as body roll angle, body roll rate, vertical acceleration of the body and body heave. The proposed controller structure for the ARC system is PID control with roll moment rejection loop. The ARC system is then implemented on an instrumented experimental vehicle in which four units of pneumatic actuators are installed in parallel arrangement with the passive suspension system. The 1 www.intechopen.com results of the study shows that the proposed control structure is able to significantly improve the dynamics performance of the vehicle during step steer and double lane change maneuvers compared to a passive vehicle system. It can also be noted that the additional roll moment rejection loop is able to further improve the performance of the PID controller for the ARC system.
ABSTRACT This paper presents gap and torque tracking controls of a new braking system for Brake-b... more ABSTRACT This paper presents gap and torque tracking controls of a new braking system for Brake-by-Wire (BBW) using a wedging mechanism. A validation technique known as Model-in-the-Loop Simulation (MILS) is proposed to evaluate the effectiveness of EWB actuator and model. MILS is divided into two types of techniques, which are Hardware-in-the-Loop Simulation (HILS) using real EWB actuator and Software-in-the-Loop Simulation (SILS) using Gaussian cumulative distribution technique. A brake test rig is developed for HILS using EWB actuator, Electronic Control Unit, National Instrument board, xPC Host and Target PC. Meanwhile, mathematical equations are developed for SILS using Matlab Simulink. Both techniques are used to evaluate the performance of EWB actuator and EWB's mathematical model in controlling the gap and torque using various inputs. The results show that the responses from the actuator and EWB model closely followed the desired trajectories, indicating that EWB is capable to be used for vehicle active braking.
This manuscript provides the design of the engine mounting for Formula Varsity Race Car. Several ... more This manuscript provides the design of the engine mounting for Formula Varsity Race Car. Several concept designs were generated for the engine mounting and the final design was selected through in 3D modeling software namely CATIA V5 CAD software during the design phase in this project. The Aluminum Alloy 6061 T6 was selected as the lightweight engine mounting material due to high strength, light weight and versatility with many manufacturing processes. The light weight engine mounting was analyzed using finite element analysis in bending and yield strength cases. The result of the engine mounting analysis showed that the engine mounting is able to perform safely as per design requirement.
International Journal of Vehicle Systems Modelling and Testing, 2013
ABSTRACT Most automotive vehicles utilise hydraulic system for actuating braking mechanism produc... more ABSTRACT Most automotive vehicles utilise hydraulic system for actuating braking mechanism producing brake torque to wheels. Besides being disadvantageous on weight, space and system, hydraulic brake requires high energy to flow brake fluid for pushing piston. Leakage and vaporisation of hydraulic fluid are main problems that degrade braking performance of hydraulic brake system. A new design of electronic wedge brake system is presented to replace and to overcome the shortcomings of hydraulic brake system. The proposed electronic wedge brake system consists of piston, wedge mechanism, worm gear and an electric motor. Rotational motion of worm gear driven by electric motor will activate wedge mechanism causing piston to displace linearly. Displacement of piston will generate clamping force between pads and disk thus producing brake torque. The proposed electronic wedge brake system is developed and its behaviour is investigated using brake test rig. The proposed electronic wedge brake system is modelled mathematically. Parameters for model were obtained experimentally. The model was validated by comparing response of the model with experimental rig.
International Journal of Vehicle Systems Modelling and Testing, 2010
This paper provides a detailed derivation of a full vehicle model, which may be used to simulate ... more This paper provides a detailed derivation of a full vehicle model, which may be used to simulate the behaviour of a vehicle in longitudinal direction. The 14 degrees of freedom (14-DOF) vehicle model is integrated with an analytical tyre dynamics using Calspan tyre model. The full vehicle model was validated experimentally with an instrumented experimental vehicle based on the driver input from brake or throttle pedals. Several transient handling tests were performed, namely sudden acceleration and sudden braking test. Comparisons of the experimental result and model response with sudden braking and throttling imposed motion are made. The results of model validation show that the trends between simulation results and experimental data are almost similar with acceptable error. An adaptive PID control strategy was implemented on the validated full vehicle model to reduce unwanted vehicle motions in longitudinal direction during sudden braking and throttling manoeuvre. The results show that the proposed control structure is able to significantly improve the dynamic performance of the vehicle during sudden braking and sudden acceleration under various conditions.
This paper presents the development of a PID controller for an Antilock Braking System (ABS) usin... more This paper presents the development of a PID controller for an Antilock Braking System (ABS) using vehicle longitudinal model. A Five Degree of Freedom (5-DOF) vehicle longitudinal dynamic model was derived and integrated with an analytical tyre dynamics, the Magic Tyre model. Several
This paper presents a derivation of a full vehicle model to study vehicle dynamics behaviour in l... more This paper presents a derivation of a full vehicle model to study vehicle dynamics behaviour in longitudinal direction. The full vehicle model is then validated using an instrumented experimental vehicle based on the driver input from brake and throttle pedals. Two tests ...
The high spatial resolution of precipitation distribution is a major concern for experts in envir... more The high spatial resolution of precipitation distribution is a major concern for experts in environmental research and planning. This paper establishes a combination of multivariate regression algorithm and spatial analysis to predict distribution of precipitation, considering the four topographical factors of altitude, slope, aspect and location. Annual average and seasonal rainfall data were collected in nine rain gauges in Ulu Kinta Catchment in East Malaysia from 1974 to 2010. To examine records and fill gaps from long-term rain gauges, homogeneity analysis was performed using the double-mass curve method. Estimated missing rainfall data were also tested using index gauges from network rainfall stations. Multivariate regression analysis was conducted to propose an empirical equation for the study area. Topographical factors were considered from a 90 m resolution digital elevation model. The multivariate regression model was found to clarify 74% of spatial variability of precipitation on annual average and 78% during wet season. However, the correlation coefficient for the dry season decreased sharply to 63%. By using the kriging interpolation method, the estimated annual average improved to 78.4%; the average improved to 65.2 and 80.3% in the dry and wet seasons, respectively. This confirms the efficiency and significance of the model and its potential for use in other tropical catchments.
ABSTRACT Check dams are commonly used to stabilize sedimentation, reduce the through water veloci... more ABSTRACT Check dams are commonly used to stabilize sedimentation, reduce the through water velocity, limit catchment erosion, and increase the reservoir storage capacity of a dam. In the study area, three check dams were constructed before the Sultan Azlan Shah Dam by the Perak Water Board (LAP) to control sedimentation. This area is an active erosion environment because of the erodible material in the stream and check dams.The effectiveness of the check dams (CD1 to CD3) was investigated to identify how the construction of such transverse structures can be used to control the soil erosion rates and the reservoir storage capacity of the dam. Toward this end, first geomorphic maps of the channel bed in the upstream and the downstream region were obtained. Then, the distribution of bed material in the study area was determined through sampling at 20 individual locations along the river. Finally, the impact of check dams on settling particles was calculated on the basis of critical velocity. Cross sections of the river showed a narrow, steep channel upstream, and a wide, shallow channel downstream. The median grain size distribution (D50) was between 2 mm before CD1 to 0.082 mm after CD3 with a minimum measured velocity of 0.24 m/s. The critical velocity showed a significant correlation with measured velocity. Furthermore, the velocity of the river and the dimension of the check dams were suitable for trapping coarse particles, especially at the last check dam (CD3).
This manuscript provides a detailed derivation of a full vehicle model, which may be used to simu... more This manuscript provides a detailed derivation of a full vehicle model, which may be used to simulate the behavior of a vehicle in longitudinal direction. The dynamics of a 14 degrees of freedom (14-DOF) vehicle model is derived and integrated with an analytical tire ...
This paper presents a 14DOF full vehicle model which consists of ride, handling and tire subsyste... more This paper presents a 14DOF full vehicle model which consists of ride, handling and tire subsystems to study vehicle dynamics behavior. The full vehicle model is then verified with well-known vehicle dynamics software namely CarSimEd based on the driver input from the steering wheel. Three types of vehicle dynamics test are performed for the purpose of model verification namely step steer test, double lane change test and slalom test. The results of model verification show that the behaviors of the model closely follow the behaviors obtained from CarSimEd software with acceptable error.
This paper presents about the development of an Antilock Braking System (ABS) using quarter vehic... more This paper presents about the development of an Antilock Braking System (ABS) using quarter vehicle model and control the ABS using different type of controllers. Antilock braking system (ABS) is an important part in vehicle system to produce additional safety for drivers. In general, Antilock braking systems have been developed to reduce tendency for wheel lock and improve vehicle control during sudden braking especially on slippery road surfaces. In this paper, a variable structure controller has been designed to deal with the strong nonlinearity in the design of ABS controller. The controllers such as PID used as the inner loop controller and Fuzzy Logic as outer loop controller to develop as ABS model to control the stopping distance and longitudinal slip of the wheel.
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Papers by Fauzi Ahmad