Global to Local Coordinate Transformation Matrix

T = trans_matrix_beam3d(x0,y0,z0,x1,y1,z1,alpha)
Die Funktion berechnet den Global to Local koordinieren Transformationsmatrix.

outrigger based rollover controller

Matlab & Coordinate Systems

coordinate transformation module

vehicle local coordinate system
kinematic unicycle state Model
[xi yi θi] Cartesian coordinate system
[vi ωi]  the states of linear velocity and the angular velocity

the model equations from the global coordinates to the local coordinates
The Global Coordinates and Local Coordinates for Cyclic Pursuit Strategy
coordinate transformation module --> an Embedded MATLAB function
http://marhes.ece.unm.edu/index.php/Ysong:Project514#Introduction

Implementation of coordinate transformation with rotation around multiple axes
http://alexandria.tue.nl/repository/books/626941.pdf


 Autonomous Vehicle Based on Simulink
http://www.springerlink.com/content/17817601t7836742/fulltext.pdf

Global and Local Coordinate Systems
Cartesian (X, Y, Z components)
Cylindrical (R, θ, Z components)
Spherical (R, θ, φ components)
Cylindrical (R, θ, Y components)
http://www.kxcad.net/ansys/ANSYS/ansyshelp/Hlp_G_MOD3_2.html

Global to Local Coordinate Transformation Matrix

http://www.mathworks.com/matlabcentral/fileexchange/9586-global-to-local-coordinate-transformation-matrix
modeling the vehicle environment


Road model
Test Track Design
Environment Model
global coordinate system of the environment
local coordinate system of the test track
transformation should be made to convert from one coordinate system to another.
Road model
1. coordinate transformation
2. transformation road properties
the global (x,y,z) and local (s,t) coordinate

Environment  module block diagram
1. Road: Vertical Profile ,Horizontal Profile ,Transformation
2. scenario:
3. Traffic Participants

Transformation between the 2 coordinates (local road coordinate (s,t) ,global coordinates(x,y))
Modeling the test track profile
- Matlab M-functions
- Simulink basic components
- Automatically generated S-functions
- Manually written S-function
We found that the automatically generated S-function is the most suitable method because of its low
execution time.

Building S-Functions Automatically
S-Function Builder is a Simulink block that builds an S-function
open_system('sfcndemo_mixedm.mdl');
edit(fullfile(matlabroot,'simulink','src','mixedm.c'))

http://metalab.uniten.edu.my/~farrukh/mywork/s_fun1.pdf 
How the S-Function Builder Builds an S-Function

Converting .mat file to .xml file

Convert MAT file to XML file (.mat file contains a hierarchical structure).
The XML Toolbox converts MATLAB data structures of any level of nesting into an XML string.
xml_format()
xml_formatany()
xml_parse()
xml_parseany()
xml_load()
xml_save()

- converting .xml files to .mat files?
- How to convert XML data
- What Is an S-Function?
- S-function (system-function) , S-functions are compiled as MEX files using the mex utility

- When to Use an S-Function
- Creating new general purpose blocks
- Describing a system as a set of mathematical equations

S-Function

The S-function demo library opens:
open_system([matlabroot,'/toolbox/simulink/simdemos/simfeatures/sfundemos.mdl']);

MATLAB S-Function Example:
1. Implement an S-function with an inherited sample time:
edit('msfcn_dsc.m');open_system('msfcndemo_sfundsc1.mdl');

2. Implement a continuous limited integrator where the output is bounded by lower and upper bounds and includes initial conditions.
edit('msfcn_limintm.m');open_system('msfcndemo_limintm.mdl');

3. Implement a multirate system
edit('msfcn_multirate.m');open_system('msfcndemo_multirate.mdl');

4. Implement an S-function that doubles its input
edit('msfcn_times_two.m');open_system('msfcndemo_timestwo.mdl');

5. Implement a unit delay
edit('msfcn_unit_delay.m');open_system('msfcndemo_sfundsc2.mdl');

6. Implement a variable pulse width generator by calling set_param from within a Level-2 MATLAB S-function. Also demonstrates how to use custom set and get methods for the block SimState.
edit('msfcn_varpulse.m');open_system('msfcndemo_varpulse.mdl');  

7. Implement a variable sample time block in which the first input is delayed by an amount of time determined by the second input.
edit('msfcn_vs.m');open_system('msfcndemo_vsfunc.mdl');  



 






Using S-function blocks in Simulink
http://www.chem.mtu.edu/~tbco/cm416/MatlabTutorialPart5.pdf

Stabilität im Sinne von Lyapunov

Das Grundprinzip im Sinne vom Lyapunov,obwohl es keine Sprunganregung gibt,aber anhand die beliebige Anfangwerte für die Zustandvariablen ,so sterben die Zustandvariablen gegen Null,weil die gesamte Dynamik in den Zustandvariablen steckt.

spurgeführter Omnibus

Struktur der Spurführungsregelung
Ein Omnibus soll einem Leitkabel geführt werden,das in der Straße verlegt ist.
Die Quarauslenkung ist elektronisch auszuregeln.

Single Track model:

To control the radius of steering maneuver, steering angles on front wheels are different. 

This could be taken into account after the “middle wheel” steering  angle assessment. 

 

 

Regelungstechnik

Strukt
http://www.diru-beze.de/signale/skripte/SuS_SS05/Block-Schaltbild-Algebra.pdf

Einspurmodell mit Wankerweiterung

- Detection of Vehicle Rollover
http://delphi.com/pdf/techpapers/2004-01-1757.pdf
- Optimal Rollover Prevention with Steer by Wire and Differential Brakinghttp://www.crcarlson.com/Academia/Research/IMECE2003_41825.pdf
-Method for Determining the Center of Gravity for an Automotive Vehicle
http://www.freepatentsonline.com/20090024269.pdf
- Realtime Multiple-Model Estimation of Center of Gravity Position in Automotive Vehicles
http://eprints.nuim.ie/890/1/SolmazAkarShortenKalkkuhl_VSD2007_final.pdf
- Estimation of Passenger Vehicle _Internal Properties and their effect on stability and Handling
https://www.jurispro.com/uploadArticles/RWadeAllen.pdf
- evaluation of vehicle dynamic control for rollover prevention
http://www-personal.umich.edu/~hpeng/Evaluation%20of%20VDC.pdf
- Model-Based Design of a SUV anti-rollover control system
http://www.mkom13upi.com/files/2-2008-01-0579_Cherian_Final_1_10_08.pdf
- Roll-Over Prevention System for Commercial Vehicles
  Additional Sensorless Function of the Electronic Brake System
http://pdfserve.informaworld.com/524050_751311367_714021279.pdf
- Roll Dynamics and Lateral Load Transfer Estimation in
Articulated Heavy Freight Vehicles: A Simulation Study



http://robo.fe.uni-lj.si/pdf_avi/Kamnik_rollover.pdf


Virtuelle Simulation von X-by-Wire Regelsystemen im Nutzfahrzeug mit Anwendung von Steer-by-Wire
http://www.femfat.com/ftp/papers/2005/07_CTI_Nutzfahrzeuge.pdf
Ein robustes Fahrdynamik-Regelungskonzept für die Kippvermeidung von Kraftfahrzeugen
http://tumb1.biblio.tu-muenchen.de/publ/diss/ei/2002/odenthal.pdf

- Robust steering control for active rollover avoidance of vehicles with elevated center of gravity.
http://www.google.de/url?sa=t&source=web&cd=2&ved=0CCwQFjAB&url=http%3A%2F%2Fciteseerx.ist.psu.edu%2Fviewdoc%2Fdownload%3Bjsessionid%3D7D691F28951B5E02FDFBB35AC46B16D7%3Fdoi%3D10.1.1.44.7571%26rep%3Drep1%26type%3Dps&rct=j&q=Robust%20steering%20control%20for%20active%20rollover%20avoidance%20of%20vehicles%20with%20elevated%20center%20of%20gravity.&ei=xmJRTZTdCJHEswbotOjiBg&usg=AFQjCNHLsygv7KKFftTdN-zjVoSUTlGX8Q&cad=rja

- A course in  H∞ Control Theory



Präsentation
1.


http://www.google.de/url?sa=t&source=web&cd=3&ved=0CCsQFjAC&url=http%3A%2F%2Fwww-ee.ccny.cuny.edu%2Fwww%2Fweb%2Fjxiao%2Fmobot.ppt&rct=j&q=Linear%20bicycle%20model%20with%20roll%20degree%20of%20freedom%20.ppt&ei=PGVRTbyyCILzsgbY_dXZBg&usg=AFQjCNH-LxBlZWEZmCI89TkSKNaDT3FClA&cad=rja


2. 

audiophile.tam.cornell.edu/~als93/SchwabMCDelft200312.ppt

3. 
http://mechatronics.ece.usu.edu/ece5320/Schedule/hw01-2009/Eric%20Ruben-gyroscopes.ppt



4.
eople.msoe.edu/~pakkala/ME402/VehDyn_C8_Steering_2009_blank.ppt

5.
www.unece.org/trans/doc/2010/wp29grrf/AMEVSC-03-04e.ppt
6. 
www.liu.se/vidi/filer/resources/1.171226/ivss2isarevised.ppt 

Wankmodell

Modellierung der Wankdynamik

- Bei Kurvendurchfahrten oder andere Fahrzeuganrregungen können Wankbewegung auftreten.
- Um die Querabweichungsmessung über den Wankwinkel zu korrigieren.

- Das Wanken-- Drehung des Fahrzeugs um die Längsachse bei Kurvenfahrten.
- Das Fahrzeug neigt sich bei Kurvenfahrt um die Wanksachse ,so es die Wankbewegung entsteht.
- Bewegungsgleichung nach der Synthetisch (Euler-Newton) & Lagrange
- Wankwinkelgeschwindigkeit & Querbeschleunigung & Einspurmodell
- Zustandsgleichung der Querabweichungsbeschleungiung

http://elib.uni-stuttgart.de/opus/volltexte/2007/3344/pdf/Dissertation_2007_Kehl.pdf

- Querregelung f¨ur die Bahnfolge eines Versuchsfahrzeugs
- Fahrzeugmodellierung
- Kinematisches Fahrzeugmodell
- Dynamisches Fahrzeugmodell
- Für den modellbasierten Entwurf der Bahnfolgeregelung wird das Einspurmodell verwendet.
http://elib.uni-stuttgart.de/opus/volltexte/2007/3344/pdf/Dissertation_2007_Kehl.pdf
Kurvenfahrt
- Der Anlenkvorgang beim Einspurfahrzeug

Fahrzeugdynamik
http://www.autogumi.com/FDV_Skript.pdf

Durchführen von Fahrversuchen hinsichtlich einer Optimierung von Fahrdynamikfahrzeug
http://home.fhtw-berlin.de/~stedtnit/pdf/Diplomarbeit%20Sentuerk.pdf

Fahrzeug-Querdynamik


http://deposit.ddb.de/cgi-bin/dokserv?idn=979605016&dok_var=d1&dok_ext=pdf&filename=979605016.pdf


Ein Fahrdynamikmodell für die Beschreibung der Quer-, Gier- und
Wankdynamik von Fahrzeugen: Das Einspurmodell mit Wankerweiterung
http://tumb1.biblio.tu-muenchen.de/publ/diss/ei/2002/odenthal.pdf
Ein robustes Fahrdynamik-Regelungskonzept für die Kippvermeidung von Kraftfahrzeugen

Einspurmodell Ein vereinfachtesModell zur Beschreibung der horizontalen Fahrzeugbewegung stellt das Einspurmodell dar
http://tuprints.ulb.tu-darmstadt.de/902/1/Weber_Ingo_FZD_Diss.pdf

Einspurmodel

https://data.epo.org/publication-server/pdf-document?cc=EP&pn=0794885&ki=B1


http://beiker.org/Documents/Dissertation%20Beiker%202000.pdf


The single track vehicle model
http://www.tut.fi/plastics/tyreschool/moduulit/moduuli_10/hypertext/5/5_1.html

A Simulink model for vehicle rollover prediction and Prevention
http://web.ics.purdue.edu/~chiu2/research/thesis.pdf
Online Center of Gravity Estimation in Automotive
Vehicles using Multiple Models and Switching

http://www.hamilton.ie/selim/MM_Estimation_of_CG_Position_ICARCV06.pdf

Railcab Teststrecke

- Eine Teststrecke von ca. 530 m mit Geraden- und Kurvenabschnitten
http://deposit.ddb.de/cgi-bin/dokserv?idn=983618445&dok_var=d1&dok_ext=pdf&filename=983618445.pdf
- Strukturierte Entwicklung der Informationsverarbeitung für die aktive Federung eines Schienenfahrzeugs.
-

Klothoide -- clothoide -- Euler spiral

- Die Klothoide(Spinnlinie) ist eine Kurve, deren Krümmung linear zu ihrer Bogenlänge zunimmt.
http://www.math.hmc.edu/~gu/curves_and_surfaces/curves/clothoid.html

- how to draw clothoid in matlab between known points?
>>dt = .01 ;
>>t=(-2*pi):dt:(2*pi) ;
>>x = cumtrapz(sin(t.^2)) * dt ;
>>y = cumtrapz(cos(t.^2)) * dt ;
>>plot(x,y,'b-') ;

- the clothoid (cornu) curve has the characteristic that its curvature is proportional to
arclength along the curve as measured from the clothoid's origin.

- Klothoide- Cornu-Spirale
- Die Klothoide wird als Übergangsbogen bei Kurven im Straßenbau und im Eisenbahnbau eingesetzt.

- Klothoidengleichung :
- Der Krümmungsradius dieser Kurve ist umgekehrt proportional zur Länge des Bogens:




http://scholar.lib.vt.edu/theses/available/etd-07312007-160005/unrestricted/Thesis_final.pdf

- Euler spiral is a curve whose curvature changes linearly with its curve length.
- Euler spirals are also commonly referred to as (spiros), (clothoids) or (Cornu spirals).
- The Clothoid is also called Euler spiral and Spiral of Cornu, is a curve whose curvature is equal to its arclength. It has the parametric formula:
- the Integrand sin(x²/2) ,  Integral(0,t)sin(x²/2)dx
http://xahlee.org/SpecialPlaneCurves_dir/Clothoid_dir/clothoid.pdf
http://xahlee.org/SpecialPlaneCurves_dir/specialPlaneCurves.html
-----------------------------------------------------------------------------------------------------------------
Clothoid Loop -- Circular Loop
http://ffden-2.phys.uaf.edu/211_fall2002.web.dir/shawna_sastamoinen/Clothoid_Loop.htm
What is a spiral?
A spiral is a curve ,which runs around a center in a special way.
----------------------------------------------------------------------------------------------------------------
The clothoid (double spiral) is a curve, whose curvature grows with the distance from the origin.
The radius of curvature is opposite proportional to its arc measured from the origin.
----------------------------------------------------------------------------------------------------------------
- Teststrecken, werden aus den Elementen aufgebaut : Gerade,Klothoide und Kurve.
1.Gerade – 2.Klothoide – 3.Kreis – 4.Klothoide – 5.Kreis – 6.Klothoide – 7.Gerade
- Der Krümmungsverlauf über die Strecke
- Klothoidenmodell & Einspurmodell
- Klothoiden-Bahnkurve
- Das Klothoidenmodell beschreibt das Krümmungsverlauf  im Straßenbau .
-