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卷 19, 编号 2 (2025)
ROBOTS, MECHATRONICS AND ROBOTIC SYSTEMS
The algorithm for processing and transforming clustered radar data into object data using mathematical and statistical methods
摘要
BACKGROUND: In modern autonomous transportation systems, such as unmanned vehicles, radars are crucial in detecting and classifying objects in the surrounding environment. However, radar data often contain noise and errors, which reduces detection accuracy. To enhance the effectiveness of autonomous systems, development of the algorithms capable of filtering and transforming clustered radar data into object data is needed in order to improve the interpretation of road situations.
AIM: Development of the radar data processing algorithm that ensures high-quality results by minimizing the number of detection errors compared to existing approaches.
METHODS: The study involved an analysis of data obtained from the ARS 408 automotive radar manufactured by Continental Engineering Services, operating at a frequency of 77 GHz. The developed algorithm included stages of filtering based on RCS (Radar Cross Section), clustering, and objects motion approximation. To evaluate the algorithm’s effectiveness, metrics such as Precision, Recall, and F1-score were used, along with the analysis of Intersection over Union (IoU). The research was conducted based on experimental data collected under real traffic conditions.
RESULTS: The work resulted in the development of the algorithm that reduces object detection errors. Evaluation of Type I and Type II errors demonstrated that the proposed method provides more reliable decision-making for autonomous systems in various road conditions.
CONCLUSION: The results support the conclusion that the developed radar data processing algorithm can be successfully implemented in autonomous vehicle control systems, providing improved data quality irrespective of the radar manufacturer. The practical significance lies in the ability to adapt the algorithm to various types of radar, making it a universal tool for enhancing the safety and efficiency of autonomous transportation systems.
5-22
Hydraulic and pneumatic systems
Hydraulic mass reduction method
摘要
BACKGROUND: This paper considers the prospects for reducing the weight of hydraulic drives by modifying the design and manufacturing technology of the actuator—the hydraulic cylinder. Feasibility of changing the hydraulic cylinder material to a composite, which offers a low manufacturing cost, is assumed.
AIM: Studying the methods for reducing the mass of hydraulic drives, which is crucial for enhancing the efficiency and cost-effectiveness of various systems. The paper presents an innovative approach to weight reduction of a hydraulic drive through modifications in the design and production technology of its actuator, specifically the hydraulic cylinder.
METHODS: Modern data analysis methods and mathematical modeling are used for successful implementation of this approach.
RESULTS: By altering the design and manufacturing technology of the actuator—the hydraulic cylinder—the method allows leveraging composite materials that not only have less weight but reduce production costs significantly as well.
CONCLUSION: The focus is on changing the design and production technology of the hydraulic drive’s actuator—the hydraulic cylinder. The proposal to replace conventional cylinder materials with composites is a promising solution, as these materials offer low production costs and high strength. This not only reduces weight of the system but maintains its reliability and durability as well. Thus, introducing composite materials into the production of hydraulic cylinders appears to be a reasonable step towards development of lighter and more economical hydraulic systems.
23-32
Experience of multi-objective optimization of axial compressor stage
摘要
BACKGROUND: Developing a universal optimization approach can reduce the time needed to improve compressor geometry. Therefore, the issue of implementing this approach when solving similar optimization problems is a relevant one.
AIM: Development and testing of the approach of setting up spatial multi-objective optimization problem for the compressor stage.
MATERIALS AND METHODS: The formation of the approach to optimization tasks is based on the experience of research organizations and the methods used in compressor engineering. To test this approach, the IOSO algorithm is used in conjunction with the AutoGrid5 mesh generator and the Ansys CFX solver.
RESULTS: At this study, a general approach was developed to formulate a multi-objective optimization problem, which serves as the basis for this entire project. A complete cycle of verification and validation was performed for the mathematical model of the studied object, which was built in the ANSYS CFX system. A method for creating a parametric model of vanes and flow parts of a stage is described. Two approaches of the optimization problem are presented: using low-Reynolds (SST) and high-Reynolds (k-ε) turbulence models, in order to assess the qualitative impact of these models on the results. For the convenience of data processing, a program was written in Python. A complete list of the object functions, optimization parameters, constraints, and assumptions used in the study is provided. In total, six different geometries of the study object were considered. For each variant, a sample analysis was performed in each of the five design sections. The detailed description of these analyses is omitted from this work. Integral characteristics of each proposed variant were built. Based on the results of the analysis, the most suitable variant was selected, both in terms of geometry and problem formulation.
CONCLUSION: As the study result, the developed approach has been tested. The disadvantages of the used method of setting up multi-objective optimization problem and methods for their solution in subsequent works are noted.
33-46
Heat engines
Development of a simulation model of a hydrogen vehicle and a subsystem for request control
摘要
BACKGROUND: Hydrogen technologies enable a significant reduction in greenhouse gas emissions in urban environments since their only byproducts are air and water. This aligns with global trends aimed at combating climate change and reducing air pollution in major cities. Hydrogen can be produced from various sources, including renewable energy. These factors justify integrating a hydrogen fuel cell system into vehicles. Developing power control algorithms for hydrogen fuel cells is an important scientific and technical challenge, as it increases vehicle range and enhances hydrogen fuel utilization efficiency.
AIM: Development and selection of the most effective algorithm for implementation within a model of the hydrogen fuel cell’s power request control using various energy consumption control strategies and comparing the operating parameters of the power distribution system were compared based on an analysis of simulation results.
METHODS: This paper presents the development of a simulation model for hybrid hydrogen-powered vehicles using the Simscape library in the MATLAB/Simulink environment. Using basic Simulink blocks, models and control algorithms for hydrogen fuel cell power request control were created, as well as a vehicle simulation model capable of testing these algorithms.
RESULTS: During the study, the strategy for controlling fuel cell power was developed. The algorithm incorporates several strategies, including a PID controller, a state machine, an equivalent consumption minimization algorithm, and a fuzzy logic controller. Additionally, requirements for the vehicle system have been outlined, and a simulation model for a hybrid hydrogen vehicle has been developed. As a result of comparing the operating parameters of the power distribution system, the most efficient power request control algorithm was identified.
CONCLUSION: The practical significance of this research lies in analyzing power request control algorithms and identifying the most effective among them. This significantly accelerates the process of selecting control algorithms for fuel cells in hydrogen vehicles.
47-66
Transport and transport-technological facilities
Selection of the main parameters for a traction electric motor based on vehicle dynamics simulation results
摘要
BACKGROUND: This study addresses the reasonable selection of key parameters for traction electric motors (TEMs) used in single-flow drivetrain of electric vehicles (EVs) or series hybrids considering requirements including achieving maximum velocity, climbing gradients, and meeting specified acceleration times. Traditional approaches for selecting internal combustion engines only consider maximum speed operation. As an example, calculation results are provided for a passenger car with specifications representative of a compact-class vehicle, which is highly suitable for urban environments.
AIM: Proposal of the method for selecting main TEM parameters based on mathematical modeling of electric vehicle dynamics in order to enhance vehicle performance and energy efficiency.
METHODS: 1) Study design: Computer simulation of vehicle dynamics; 2) Study subjects: Parameters of a compact-class electric passenger vehicle; 3) Study duration: Unlimited computational driving cycles; 4) Primary objective: Optimal TEM parameters (nominal/peak power, torque, rotational velocity); 5) Assessment methods: MATLAB simulation modeling with analysis of three key modes: Maximum velocity, 20° gradient climbing, Acceleration from 0–100 km/h within 14 seconds.
RESULTS: For the compact-class vehicle (1580 kg), the nominal TEM power was determined as 22 kW and peak power as 55 kW. The maximum shaft rotation velocity reached 8,000 rpm.
CONCLUSION: The proposed method optimizes TEM parameters for urban electric vehicles, improving energy efficiency while reducing production costs.
67-74
Analysis of composite leaf spring’s elastic properties for truck suspension system
摘要
BACKGROUND: Currently, the issue of reasonable use of energy resources, dictated by the increase in environmental standards and production capacity, as well as the reduction of consumer costs, often arises. This issue is especially acute in the automotive industry. The fundamental factor in the issue of increasing the energy efficiency of a vehicle is its weight, reduction of which causes many design and layout contradictions. One of the possible solutions to this problem is the use of composite materials in the vehicles design. Currently, composite materials are widely used in aircraft manufacturing and the aerospace sector, where their use is a generally accepted approach. In the conditions of constant competition in the automotive industry, products made of polymer composite materials have also recently begun to be widely used. The main areas of application of composite materials are large-sized body structures (cabins, hoods, bumpers, doors), components of transmission, chassis and brake systems (friction linings of clutch discs, elastic elements of the suspension system, friction elements of brakes). The paper presents the main approaches and intermediate results of calculating fiberglass springs for the rear suspension system of a vehicle with a gross weight of 3500 kg.
AIM: Reducing the weight of the truck’s rear suspension with a gross vehicle weight of 3500 kg.
METHODS: To reduce weight and to determine the required mechanical characteristics of the suspension system, a search for reasonable parameters of a leaf spring made of fiberglass, taking into account the manufacturing features, is carried out using the finite element analysis method.
RESULTS: A reasonable design of a composite leaf spring with minimum mass has been obtained. The optimal distribution of composite layers and angles of its reinforcement along the thickness of the leaf spring has been determined. The load characteristic of the obtained spring, made using a polymer composite, has been built.
CONCLUSION: The optimization of the composite leaf spring made of fiberglass was carried out. The obtained leaf spring has a nonlinear stiffness characteristic. When subjected to dynamic force, the spring failure criterion does not exceed 1, which indicates its operability.
75-86
Simulation model of mobile robot movement on complex ground
摘要
BACKGROUND: Typically, mobile robots shall have high maneuverability, requiring additional drives that allow for changing the propulsion unit geometry and complex motion control systems. Existing software used to simulate the movement of rigid body systems do not always allow for the accurate description of the propulsion unit (wheels) interaction with the complex ground, challenging the development of advanced control algorithms.
AIM: To develop a movement simulation for mobile robots, combining the advanced software for mathematical modeling of rigid body system movement and an algorithm to detect the contact of wheels with the ground relief based on a modified GJK algorithm.
METHODS: The approach proposed to solve the problem of propulsion unit contact with track irregularities is based on the GJK algorithm used to search for wheel intersections with the ground relief. The output of the algorithm allowed to determine contact forces and moments that describe the tire–ground interaction based on its elastic damping and traction properties.
RESULTS: The authors propose a mathematical model of the wheel interaction with uneven ground for multiple contact points. The model is based on a modified GJK algorithm and allows to determine contact points and interaction forces when simulating the mobile robot movement at a speed close to real time. The paper presents an assessment of the model’s effectiveness and its suitability for developing automatic movement control algorithms for mobile robots.
CONCLUSION: The developed model allows to study efficiently the mobile robot movement when negotiating large obstacles and uneven grounds with multiple contact points of the propulsion unit with the ground. The study confirms that the model is suitable for and may be used in mathematical simulation models to design motion control laws for a mobile robot.
87-99
Analysis of mathematical models of few-leaf springs of vehicle suspension systems
摘要
BACKGROUND: For trucks, dependent suspension with longitudinal semi-elliptical springs is the most common. The widespread use of the suspension system with leaf springs caused by the simplicity of its design, low cost and low maintenance complexity, as well as the fact that the leaf springs simultaneously perform the functions of an elastic and guiding element. However, despite the widespread use and obvious advantages, few-leaf springs function modeling in a multibody dynamic system is a difficult task. To study the dynamics of vehicles with leaf spring suspensions, it is necessary to have an accurate and at the same time high-performance model. Therefore, it is very important to choose a reasonable mathematical model of a leaf spring.
AIM: Comparison of multibody simulation mathematical models of well-known few-leaf springs, used in suspension of wheeled vehicles.
METHODS: TThe solution of the problem is carried out by comparing the known methods of modeling leaf springs in terms of calculation time and accuracy of the results obtained in the NX software package in the environment of dynamics of coupled bodies Simcenter 3D Motion.
RESULTS: In the course of the work, the 4 most common methods of modeling small leaf springs in the environment of dynamics of solids are considered. Based on the analysis, the most rational method was identified, providing the highest accuracy and calculation speed (less than 5 seconds).
CONCLUSION: The chosen method of leaf spring suspension modeling can be used for studying vehicle dynamics, so high-quality results in a short period of time may be obtained.
100-110
Electrotechnical facilities and systems
Optimal design of a low power transformer
摘要
BACKGROUND: A low power transformer is one of the most common electromagnetic devices. They are used in special installations: aircraft, space or underwater vehicles, portable equipment, etc., as well as in stationary units and household devices. At the same time, the requirements for transformers vary greatly. Therefore, their optimal design is a relevant task.
AIM: Justified selection of optimization criteria when designing low–power transformers with minimum weight or minimum price.
METHODS: The optimal values of the criteria are obtained with mathematical analysis methods. If the weight and cost of insulating materials are not considered, a transformer consists of two components: a ferromagnetic (steel) core and copper (in some cases aluminum) windings. On the other hand, according to the law of electromagnetic induction, that the product of the number of windings turns and the cross–sectional area of the ferromagnetic core is constant, since it is specified by the technical specification. These two ratios can be used to obtain optimal values for the selected criteria. Equations from two variables were compiled, the solution of which made it possible to obtain the optimal ratio of the mass of the ferromagnetic core and the mass of the windings.
RESULTS: As a result of the analysis, for the minimum mass of the transformer, the optimal core and windings masses ratio was obtained as 1:1. For the minimum cost of the transformer, the optimal core and windings masses ratio depends on the price of the corresponding materials, and it is inversely proportional to the core and windings materials cost ratio.
CONCLUSION: The practical value of the research lies in the ability to design low-power transformers optimally for various applications.
111-117