For the covering abstract see ITRD E111409. New insights into steering of vehicles are generated and new avenues for exploration of the influences on the driver of varying the vehicle dynamic properties are opened up. A proper yet simple cost function is devised to induce the virtual optimal driver to control the car at its physical limits while using the handbrake technique. Nonlinear optimal control techniques are used to mimic real driver behavior. The results are examined in the context of real driving and tested by simulation of manoeuvres using the optimal steering control in what is thought to approximate the manner of a real driver. The paper investigates the optimality of the handbrake cornering, a strategy widespread among rally drivers. The form taken by the optimal preview control, with variations in the weighting of terms in the cost function and with variations in the vehicle speed, is established. A quadratic cost function consisting of terms describing path and attitude errors with respect to a roadway and steering angle control is minimised by standard optimal control theory methods, using MATLAB to perform the necessary computations. A standard yaw/sideslip linear car model is put into discrete time form and joined with a road preview model. Results, compared with some typical copper concentrate pipeline operational conditions, show that optimal values in the sense of the present hydraulic-cost analysis tend to require higher concentrations and lower pipeline utilization fractions than in typical systems, with differences in costs ranging from 16% to 28%.Steering of a car to follow a prescribed path with minimal error is represented as a problem in optimal linear discrete time preview control. Present results show that an equivalent pipeline oversizing at constant throughput would allow, in addition to the computed optimal conditions, for operation at lower specific energy consumption scenarios. For fixed water costs, increasing the energy cost causes an incentive for an additional use of water, thus appearing a double non-linear dependence of optimal results with energy and water costs.įor high enough throughputs, the low water cost regime disappears, and is replaced by constant, minimal optimal flow rate and solids concentrations, related to the maximum possible pipeline utilization constraint. Results show the appearance of a low water cost regime for low throughput conditions, with a steep, quasi-linear change on optimal properties with water cost, followed by a nonlinear, high water cost regime, related to a weaker, monotonic change of concentration, flow rate, pipeline utilization and water consumption, respectively. The optimization problem is solved for different throughput and hydraulic conditions resembling a long distance copper concentrate pipeline and a range of water and energy costs, using a nonlinear, constrained optimization scheme. The relative importance of energy and water consumption is parameterized through the inclusion of water and energy unit costs, along with system variables such as throughput, solids concentration and system utilization fraction.
#Sharp driver optimal control model drivers#
It builds on previously published work, in which it was shown how the drivers preview of the roadway can be combined with the linear dynamics of a simple car to yield a.
A scalar function built upon the computation of energy and water consumption including restrictions inherent to hydraulic transport of solids through pipelines is defined. The article is about steering control of cars by drivers, concentrating on following the lateral profile of the roadway, which is presumed visible ahead of the car. In the present paper, an optimization scheme to look for better operational points considering energy and water utilization is proposed.
Although past efforts have been made to identify the best operational points in terms of energy efficiency, an approach to concurrently include water value, representing aspects such as price or scarcity, is lacking. Long distance ore pipelines are intensive in water and energy use.
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