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This paper considers vehicle speed dependent assistant control problems for electric power steering systems (EPSs). According to the requirement analysis of the vehicle speed dependent assistant control, a mathematical model of EPSs is established, and a double closed-loop control system structure is proposed. Based on the assist characteristic of the desired steering wheel torque, the function model...
In this paper, we present our research efforts which investigates efficiency of mechanical energy transfer from flywheel to the overall mobile hovering robot body not only with simulations but also with real world experiments. To generate varying amounts of inertia with respect to rotation requirements, a counter rotating flywheel system is developed and multiple angular motion profiles are applied...
This article is about a new method to evaluate the ability of the pilot to recover energy during the regenerative braking period. In order to optimize the amount of energy recovered from electrical braking, most of the existing literatures present optimal methods which consist in defining the optimal braking torque as a function of vehicle speed. The originality of the present study is to propose...
In this paper, we model an electronic differential that will offer the best stability of vehicle in the curved road. The use of electronic differential constitutes a technological advance of vehicle design along the concept of more electric vehicles. Electronic differential have the advantages of replacing loosely, heavy and inefficient mechanical transmission and mechanical differential with a more...
It is an inherent property of a mechatronic system that it involves several interacting sub-systems and the design process for such systems involves an in-depth understanding of a number of engineering disciplines. A truly mechatronic design requires use of advanced models during the design procedure combined with the formulation and the solution of an optimization problem involving a number of constraints...
Terrainability is mostly dependant on the suspension mechanism and the control of a space rover. For the six wheeled CRAB rover, this paper presents the composite control design with torque control and adaptive Kriging control to improve the terrainability, somewhat related to minimizing wheel slip. As CRAB is moving slowly, the torque control is processed by minimizing the variance of the required...
A torque control method for Brushless Direct Current (BLDC) motor is introduced in this paper, which plays vital roles in In-wheel vehicle system. In-wheel motor can be used in electric cars with 4 wheels independent drive configuration. Within every wheel, there can be one “Direct-Drive In-wheel motor” to generate the necessary torque per wheel. In order to improve dynamic response characteristics...
Compared with the traditional constant torque braking system, the constant deceleration braking system which is used widely has better reliability and security. Therefore, it is necessary to study the constant deceleration braking system. This paper mainly states the theory of the constant deceleration braking system and the merits and demerits of the present system. The mathematical model is established...
Project the structure of the low slip test system on vehicle ABS control performance, prove the principle of the test system. Set up the dynamic model of experimental system. Based on the Matlab/Simulink, establish the simulation system of the low slip test system on vehicle ABS control performance for the Chery A3 car. In the basic of this simulation system, this paper simulate and analyses the vehicle...
The capability to overcome terrain irregularities or obstacles, named terrainability, is mostly dependant on the suspension mechanism of the rover and its control. For a given wheeled robot, the terrainability can be improved by using a sophisticated control, and is somewhat related to minimizing wheel slip. The proposed control method, named torque control, improves the rover terrainability by taking...
This paper describes driving and braking torque control methods for front-and-rear-wheel-independent-drive type electric vehicles (FRID EVs); the methods are based on the distance between an obstacle and the running vehicle and the road surface condition, which are estimated using CCD cameras. The methods comprise three procedures: (i) a procedure to automatically control the braking torque on the...
This paper presents a hybrid ABS controller based on wheel deceleration and force sensing. The proposed controller consists of a deceleration based switching logic that stabilizes the wheel slip dynamics around a limit cycle and a force measurement based algorithm that updates the maximum and minimum braking torque. It is shown how force sensing can improve performance and, at the same time, yield...
A traction control system (TCS) using fuzzy sliding mode control (FSMC) is proposed for the electric scooter with direct driven wheel motor in this paper. First, road friction coefficient is estimated using normal force observer and traction force observer. A road condition observer is then employed to estimate the gradient of road friction coefficient with respect to the tire slip ratio. An innovative...
The paper has built the unit of collecting energy of pipe robot,which is centered on friction gear and motor so as to deliver rotating speed and torque of friction gear to motor by the synthetic mechanism of transmission and motion and turn fluid energy by collecting mechanical energy into electrical energy needed by controlling system. In the running test for simulating work situation, it shows that...
A novel motion control algorithm was introduced to achieve dance between a man and a passive type robot (PDR), which can not move by itself, but can guarantee higher level of safety in the process of human-robot cooperation. Firstly, the characteristics of servo brake were analyzed, and the motion was divided into 8 states according to the kinematic model and control constraint condition. Then feasible...
In recent years, the demand for safer vehicles has increased. According to traffic accident reports prepared by the Metropolitan Police Department in Japan, almost all traffic accidents are caused by human errors such as driver negligence or operational mistakes. Therefore, future technologies need to precisely detect driver's mistakes and adopt active control in order to increase vehicle safety....
The paper presents aspects concerning the modeling and driving scenarios of a class of vehicular power train systems. The modeling includes an analysis of the system components which include the spark-ignition internal combustion engine, the torque converter, the metal V-belt type continuously variable transmission and the wheels. Four driving scenarios are illustrated by digital simulation results:...
In this paper, the control algorithm of a female type dance partner robot called PDR was introduced to achieve dance between the robot and a male dancer with physical interaction. PDR is a passive type mobile robot and developed based on the concept of passive robotics. Firstly, the characteristics of servo brake were analyzed, according to the kinematic model and control constraint condition, the...
A novel power assisted steering system based on differential drive torque of the right and left steerable driving wheel was proposed, owing to the driving characteristics of four-wheel-independent-driving electric vehicle, the basic theory and structure of Driving Force Power Steering(DFPS) is explained in detail. Subsequently, electric vehicle with motorized wheels dynamics model based on AMESim...
This paper presents a torque observer designed using the Lyapunov stability theorem and a dynamic power assisted wheelchair constructed using Lagrangian's equation. This proposed method can be used to accurately control and estimate the impact torque of the power assisted wheelchair. This novel observer design combines an adaptive observer and PI controller to accurately control the apparatus. The...
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