Driveline resonances are one of the major reasons for poor vehicle drivability, passenger discomfort, and premature wear of the mechanical parts of the driveline. Therefore, adequate models generated by system identification are essential in order to analyze resonances, and especially to design solutions to mitigate these adverse effects by means of control. In this paper, the resonating mechanical driveline of a hybrid city bus is identified by feeding different excitation signals, such as a pseudo-random binary signal, stepped sine, and chirp to the driveline, and by measuring the frequency response at a standstill and during on-road experiments. The identification experiments are conducted by operating the bus in the series electric hybrid mode, that is, in an operating mode that corresponds to a full electric mode powered by energy storages. Resonating two-mass system models are parametrized based on the obtained frequency responses and used to validate the identification experiments.

Tower cranes are needed to move heavy objects safely around construction sites. In tower cranes, payload oscillations are a typical problem that can cause safety issues, especially if the crane is not operated by an experienced user. Depending on the system, there are different causes for oscillations, e.g., inertial forces from the crane movement or external forces, such as weather conditions. Hence, the selected control law for input tracking plays an important role to limit the oscillatory motion and to help the crane operator to prevent unwanted operations. In this paper, we study the slew control of a tower crane application from the viewpoint of reducing payload oscillations. Two different approaches are studied: open-loop control based on extrainsensitive input shaping and closed-loop swing angle control, based on the estimation of the hoist cable angle. The proposed control approaches are validated by running the developed control program against a multibody mechanics simulator containing a model of a Liebherr tower crane. The studied control laws are also evaluated using an experimental setup, which consists of a two-axis manipulator, inverters, and a programmable logic controller in which the studied control methods are implemented. The results from the multibody dynamics simulations and from the experimental setup are presented and evaluated from the viewpoint of crane operation.

Application of energy storage (ES) in power distribution systems (PDS) of short sea shipping marine vessels is gaining ground. The main drivers are the increasing demand for higher energy efficiency and the decreasing costs of battery ES systems (BESS). The feasible chemistry and dimensioning of the BESS depend heavily on the vessel type, the PDS topology, and the load profile. Thus, no general rules for battery dimensioning that would fit all vessels can be presented, but the analysis must be performed by using an advanced modeling approach, which takes into account the abovementioned factors. This paper presents a modeling methodology for dimensioning marine vessel ES and hybrid PDS components. The methodology has been tested for two distinct vessels, a cruiseferry and an off-shore support vessel.

In this paper, different power balance control methods for hybrid marine vessels are analyzed. First, the power grid of a marine vessel is modeled using MATLAB and Simulink. Simulations are then performed using real power plant load data captured from an actual vessel. Isochronous control is used to control the power of the diesel gensets, and different control methods, such as isochronous control and average load power estimation, are used for the battery energy storage system. The system is simulated with different control parameters, and the effects of parameter changes are presented. It is shown that these presented control schemes can be adapted to manage the energy balance in a hybrid vessel, thereby enabling efficient use of the battery energy storage system. A diesel genset and battery energy storage system failure during a dynamic positioning operation is also simulated, and the effect of the failure on the frequency of the power grid of the vessel is presented.