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This paper presents a new type of electrically driven mining vehicle which adapts to the characteristics of seabed complex terrain environment. The optimal drive motor is selected and the corresponding control algorithm is designed. The obstacle surmounting process and the change law of the output torque of the electric driven mining vehicle under typical working conditions are analyzed. The simulation...
A multi-body dynamics model was established in Adams. According to the working principle of the electric power steering system(EPS), the linear assistant power curve and control strategy were designed in Matlab/Simulink. And the corresponding fault-tolerant control strategy is designed for the current distribution strategy. The co-simulation was carried out and the result shows that the dual-motor...
Omni-directional wheeled motion system with its flexible steering, stable structure and reliable control precision, become the basis of the mobile robot system which used indoor. In this paper two kinds of Omni-directions platform which wheeled by three Mecanum wheels are built up, by setting up the dynamical simulations about the two model based in simulation software, and according to the dynamic...
The paper depicts the reviews on evolution of a cube shaped device called the Cubli, which has the ability to leap up, create equilibrium on different angles and edges. The study is focussed upon the control techniques when there is a sudden brake on high angular velocity rotation of reaction wheels, which are seated on the surface of Cubli, allowing the Cubli to leap up, first to its edge, and then...
A fuzzy control based on particle swarm optimization of heavy truck EPS system control strategy is proposed, on the basis of vehicle EPS system overall design, combined with the driver steering subjective feeling and the sense of road requirements designed assistance characteristics curve, steering system model, 7 degrees of freedom vehicle dynamics model. The simulation experimental results show...
Steering torque feedback provides drivers with road feel and hap tic feedback on vehicle motion, which are necessary for drivers to properly operate vehicles. Therefore, simulating steering torque feedback with sufficient fidelity is of great significance to systems without actual steering systems, such as driving simulators and steer-by-wire systems. In this paper, a steering torque feedback model...
The wheel coupling relationship of the fourwheel independent driving electric cars is described in this paper. The four driving wheels are in the best adhesion state with the wheel coupling force minimum allocation strategy, which increases the stability margin of vehicle. Then, on the basis of the optimal control theory, the deviation between the actual and ideal torque as control input for realizing...
The paper deals with the electronic stabilization system (ESP) proposal. This system provides stability of the vehicle in critical or unpredictable situations, which driver could not manage or could manage with troubles. It is a system that increases active safety of the vehicle. A lot of necessary scanners and active elements were surveyed. Based on these findings, the optimal versions of all the...
The larger and longer body of multi-axle vehicle makes it difficult to steer as flexibly as usual. For this reason, a novel steering mode which combines traditional Ackerman steering and Skid steering method is proposed and the resulted turning characteristics is studied in this research. First, the research methods are identified by means of building and analysing a vehicle dynamical model. Then,...
In the past few decades demand for Multi Terrain Robot applications have been increased significantly. These robots can be employed for the purpose of security surveillance and rescue purposes in the remote areas. In remote areas the terrain is not uniform and hence stability of the robot becomes a challenging task. In this paper, a new design is proposed for the mobile robot, which aims to perform...
Active front steering (AFS) system has been the trend of steering technology in recent years by improving the steering comfort and active safety. In this paper, a new layout AFS system combining column mounted AFS actuator with pinion-type electrical power steering (EPS) system is proposed and its dynamic characteristics are analyzed. Three typical variable gear ratio (VGR) actuators are discussed...
Starting from the principle and strategy of changing the diameter of walking wheel, applying ANSYS "C FEMBS "C SIMPACK to construct model of flexible connectors with geometric stiffness. Based on the theory of continuous colLision, we introduce mobile marker to define the nonLinear contact between the wheel's caster and ground. The rigid-flexible simulation analysis was carried out to wheel...
A multi-body dynamic model of Electric Power Steering (EPS) is set up by using ADAMS in this paper, and also a PID control strategy for the assist torque of EPS is described. The dynamic model & control system model are combined by ADAMS/Controls. Based on these, steering lightness and dynamic characteristic of vehicle are investigated by simulation analysis. The results show that the dynamic...
In this paper, simulation model of a wheeled vehicle is established firstly by using dynamics simulation software of mechanical system ADAMS. Secondly, through setting the initial condition and inputting various parameters, simulation analysis of skid-steer during the unilateral braking process is performed. In addition, the results are contrasted. Finally, the minimum turning track radius is defined.
According to a new horizontal moving mechanism called `Side-Wheel Operating Simultaneously', the moving process of the high-speed & high acceleration stacker for starting and accelerating was simulated and analyzed with multi-body system method. The result showed that the stacker is able to accelerate stably and fast with the designed maximum acceleration and speed.
In this paper, with dynamics analysis on whole vehicle and hydraulic retarder, the dynamic simulation model of engine and hydraulic retarder continual braking on sloping hillside of tracked vehicle is built by using Simulink software. The simulation results show that when engine and hydraulic retarder continual braking is used opportunely, it can meet the demands for tracked vehicles to safely travel...
Modeling, simulation analysis of vertical and lateral dynamics of an electric vehicle driven by two rear hub-motors are presented. An eleven-DOF model of the electric vehicle and the road surface input model are all established. A PID controller is used to adjust yaw rate to the desired one when slip ratio of the driving wheels is less than peak slip ratio. Simulation is performed considering inputs...
In this paper, we will discuss the application of robust control techniques and especially ??-synthesis to the Army's ATB-1000 test fixture. For comparison, two SISO controller designs are also described. The test fixture is pattered after the Apache helicopter's 30 mm gun and has tunable nonlinearities which may be representative not only of the nonlinearities of the gun, but of other mechanical...
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