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Presenting a coordinated control algorithm that takes into account both electric stability control (ESC) and drive force assisted steering (DFAS) performance. It introduces the correction factor ki of the driving force when driving the power steering, which designed by fuzzy control the factor with the different vehicle attitude and conditions of the rules of change, and finally the basic control...
In order to realize the differential function of electric vehicle driven by two rear wheel-hub motors, by following the optimal slip ratio of each wheel and equalizing the slip ratio of both drive wheels as target, a electronic differential control strategy based on terminal sliding mode is proposed. First of all, according to the standard μ-λ curve, the optimal slip ratio of the pavement is determined...
To improve the mobility of locomotive devices on loose, sandy terrain, protrusions or convex patterns called lugs (i.e., grousers) are attached to the surface of a locomotive modulus. Following our previous study, in which the effects of angular speed, lug sinkage length, and soil cumulative deformation on lug-soil interaction forces during the fixed-axis rotational motion were experimentally confirmed,...
In this paper, an optimal control allocation strategy is presented for an eight in-wheel-motor independent drive electric vehicle/four double front wheel steering(8WD/4WS). The upper level controller consists of a speed following controller and two sliding mode controllers. The speed tracking controller obtains the desired longitudinal force by tracking the longitudinal speed. Two sliding mode controllers...
This paper discusses how to apply virtual prototype technology to analyzing driving mechanics of the patrol robot for belt conveyor. Virtual prototyping model has been established for inspection robot, and simulation experiments has been completed in planar motion and climbing movement simulation. By analyzing the simulation results, Wheel-rail inspection robot has good driving characteristics in...
The accurate information of vehicle states that could not be obtained directly by onboard sensors is virtual important for vehicle active safety systems. This paper presents the nonlinear full-order observer which is used to estimate the longitudinal velocity, lateral velocity and road grade estimation with autonomous driving. Firstly, this paper established a simplified vehicle dynamics model for...
A fault can occur any time during mobile robots operation and this may cause human injuries. To ensure the safety and the reliability of mobile robots, fault detection and identification (FDI) are necessary to be addressed. The faults in this study are defined as situations that the mobile robots collide with obstacles or the obstacle interferes mobile robot motion immediately. The objectives of this...
In this work a system for the estimation of the forces (both longitudinal and lateral) exerted between the tires and the road is presented. Starting from two of the most commonly used descriptions of the vehicle dynamics, the single-corner and the single-track models, a system composed of Sub-Optimal Second Order Sliding Mode observers in a cascade structure plus an adaptive element is developed and...
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...
In this paper, the Newton-Euler method is used to model the two-wheeled self-balancing robot, then the model is linearized and decoupled. The LQR optimal quadratic model is used to simulate the model, and the influence of Q and R on the system state is analyzed. Combined with the simulation, the algorithm is written to the controller for the actual control of the robot, and the debugging method is...
A nonlinear reduced-order vehicle velocity observer based on vehicle dynamics is proposed. Firstly, the longitudinal force of the tire is obtained by cascade tire-force estimation method based on the sliding mode observer, and the results are verified. Then, based on the simplified three-degree-of-freedom vehicle model, a nonlinear reduced-order observer with yaw rate as the correction term is designed...
Nowadays, the increase of mobility necessity combined with the targets to reduce pollution (emissions, noise, etc.) and the dependence to fossil fuels, strongly supports the development of electrics (EVs) and hybrid vehicles (HEVs). In this context, the present paper presents the main particularities of the traction systems of these vehicles, making a comparison with the classical internal combustion...
Regenerative braking is an effective method for hybrid electric vehicle (HEV) to extend their driving range. This paper proposes a method to recover more energy in the process of braking for hybrid electric vehicle using rear motor control. Firstly, a novel control strategy of braking force distribution of the front and rear wheels is proposed. Then, a fuzzy control strategy is designed to determine...
Switched reluctance motor (SRM) has great application potential in in-wheel motor electric vehicle (IWM-EV) due to its advantages, such as a high starting torque for initial acceleration, a wide operating speed range and high efficiency to extend the battery service life. However, the new structure of IWM-EV, e.g. SRM vertical force, airgap deformation has negative effect on vehicle safety and comfort...
This paper reports the motion control of a wall climbing robot. The robot has a pair of driving wheels and a coaxial propeller thruster. Two wheels are used for running on walls, and the thruster located on a gimbal mechanism is controlled corresponding to the orientation of the robot and the slope angle of the wall. The orientation control of the gimbal mechanism is newly proposed, and is experimentally...
Brake system design is considered quite challenging due to conflicting safety constraints imposed on the system performance. As several components are integrated into the system, design focused exclusively on a single element does not guarantee efficient system performance. As a consequence, no general rules are provided in developing this type of system. This paper aims at proposing a quick and intuitive...
The authors proposed a basic method for generating a colhsionless walking gait of a non-straight-legged biped and analyzed the fundamental gait properties. This paper then discusses the transfer energy efficiency of the generated gait in terms of specific resistance. Numerical simulations show that energy efficiency can be improved by promoting the asymmetry of the leg shape, and by keeping the positivity...
This research investigates the feasibility for the development of a novel 3D collision avoidance system for smart powered wheelchairs operating in a cluttered setting by using a scenario generated in a simulated environment using the Robot Operating System development framework. We constructed an innovative interface with a commercially available powered wheelchair system in order to extract joystick...
This paper is concerned with the modeling of the behavior of railway tracks under a dynamic load of wheel set taking into account the elastic, viscous-elastic and elastic-plastic properties of the interaction region between two solid bodies and elastic anisotropic properties of the top structure of a railway track, which differ in three main directions: along the rails, along the sleepers and vertically...
This paper proposes a method for generating an underactuated bipedal gait without including state jumps during motion. We introduce a model of a point-footed and non-straight-legged biped robot with a reaction wheel attached to the hip joint, and design two controllers; one is a strict output-following control for generating the leg motion during the single-limb support phase, and the other is a discrete-time...
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