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Work deals with fundamental algorithms for vehicle stability control. Introduction of the work is focused on directional vehicle stability during cornering. One of the main part of the work is focused to develop a kinematic - dynamic model vehicle chassis in an MSC. Adams, which is later served on the simulation of certain driving situations when turning the vehicle. Vehicle model is exported to Matlab/SIMULINK...
A holonomic omnidirectional mobile robot with active dual-wheel caster assemblies is proposed as a robotic transport vehicle. With concern to the existence of sudden acceleration and other dynamical effects during maneuver, the tip-over instability monitoring is very important to prevent any unexpected injuries and property damage. This work presents the preventive method of the tip-over occurrence...
In this paper, a 4 wheel steering vehicle (4WS) was used as a template and a vehicle was modeled (experimental) by using 2 degree of freedom system. The dynamics governing the Yaw behavior of a vehicle has been simulated with MATLAB/SIMULINK software. A controller, working by fuzzy logic was then designed. A relationship between front and rear angle of tires in different speeds and different front...
This paper presents a motion control method of 6WD/6WS (6-wheel-drive and 6-wheel-steering) vehicle using optimum tire force distribution method. When we make used of independent driving and steering system, the motion control performance of the 6WD/6WS vehicle can be improved. For example, vehicle's maneuverability is more improved at low speed and vehicle's stability is also improved at high speed...
In this paper we present the integration of a linear-time-varying model-predictive-control (LTV-MPC), designed to stabilize a vehicle during sudden lane change or excessive speed-entry in curve, with a slip controller that converts the desired longitudinal tire force variation in pressure variation in the brake system. The lateral controller is designed using a three-degrees-of-freedom vehicle model...
In this work we derive steady-state cornering conditions for a single-track vehicle model without restricting the operation of the tires to their linear region (i.e. allowing the vehicle to drift). For each steady-state equilibrium we calculate the corresponding tire friction forces at the front and rear tires, as well as the required front steering angle and front and rear wheel longitudinal slip,...
This paper explains a method of four-wheel steering control by using sliding mode control (SMC). The purpose is to improve the control safety of four-wheeled vehicle by using invariable SMC for the cross-wind disturbance that satisfies the matching condition. Influence of the side wind are thought as the cross-wind disturbance related to driving the car. Steering control that corresponds to the influence...
The research developments and structural feature of electro-hydraulic brake (EHB) system were investigated. EHB and vehicle dynamic models were established and analyzed. The control strategy was accomplished for vehicle stability control with EHB system and verified by simulation in typical condition of steering under braking at low-friction condition. The simulation results show that the controller...
There are always various kinds of disturbances in the environment that causes the instability of the automatic guided vehicle (AGV). The position error is aroused because the trajectory can not follow the reference trace accurately. In this paper a fuzzy control scheme is proposed based on the analysis of the kinematics equation and the trajectory error of AGV. Then, simulations are made with the...
A yaw motion stabilization controller in Electric Power Steering (EPS) system is designed in this paper. According to the linearized four-wheel model of vehicle, a state observer of cornering state variables, such as yaw rate angle and slip angle. In order to improve the drive comfort and drive safety for EPS, a Yaw Rate Generator is designed and a yaw rate stabilization controller is constructed...
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