The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
Due to low-cost and simplicity, differential drive mobile robot are very popular in academic and hobby environments. However, in some applications, such as robot soccer, these robots need to move quickly and aggressively, thus requiring the use of techniques from control systems theory, where an accurate mathematical model is paramount. On the other hand, given budget limitations, the components used...
In this paper, the control scheme of a co-axial two-wheel mobile robot by human operation is developed. Two joysticks are introduced considering easy and intuitive operation for the user. Common and differential mode of the tilt angle of joysticks correspond to translational and rotational motion respectively. In order to control translational motion of a two-wheel mobile robot, two kinds of controller,...
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...
To solve problems that existed in current omni-directional vehicle, such as high energy consumption and the mismatch between the gimbal and the movement of the chassis, a kind of Mecanum wheels control method is designed. Based on the principle of omni-directional movement and the analysis of kinematic model of vehicle, the chassis structure model is constructed. It is observed that the power consumption...
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...
Since the population of elderly gradually increases recently in developed country, and it causes an increase of burdens to care workers, there exists a strong demand for walking assist devices. The falling down of elderly may cause serious injuries which results in significant decrease of quality of life. Conventional wearable walking support devices are not easy for elderly to wear. The authors have...
This paper talks about the creation of fast and lightweight 2D electric road vehicle models in order to design the whole electric powertrain. Two models are developed. The first one is very essential: it consists of three dynamics, that is full vehicle dynamics, front wheels dynamics and rear wheels dynamics; basic friction model is used. The second model is more complex: it also takes into account...
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...
Referring to a 4-wheel drive Formula Student Electric vehicle, a fractional-slot synchronous permanent magnet machine has been designed. Torque density has been improved adopting outer rotor topology and lightweight materials. An ironless rotor with PMs placed in an Halbach array configuration allows reduced rotor inertia to be obtained. The results described in the paper provide a quantitative assessment...
This paper is concerned with the design of a robust position Backstepping tracking controller for a permanent magnet synchronous motor (PMSM). A Backstepping control law is designed from the input-output linearization of the PMSM model, written in d-q coordinates. This controller is adapted via the estimation of the unknown load torque and friction effects. A linear extended state observer is devised...
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...
An anti-slip method for locomotives using improved adhesion characteristic curve slope method is proposed to solve the problem of low stability and control precision of the original adhesion characteristic curve slope method, it's adopting differentials of adhesion coefficient and slip speed as the identification criterion for locomotive states. The relationship among locomotive adhesion, resistance,...
With the aim of regeneration efficiency and braking effect, this paper focuses on cooperative control of regenerative braking and hydraulic braking for rear-wheel-drive electric vehicle (EV), and designs a model predictive controller to maintain the slip ratio within an optimal range by adjusting the braking torque continuously. Besides, a new braking torque allocation strategy is put forward in view...
Lane keeping assistance is an important lateral control technology of autonomous driving system. A large number of autonomous steering control methods were given to deal with path-following and lane keeping problems by controlling steering wheel angle directly. In this paper, however, a linear time-varying model predictive control (LTV-MPC) method for path-following manipulating is proposed based...
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...
Formula SAE is an international engineering design competition for university students to design, build and test a four-wheel race car in one year. Formula student electric series has been introduced into formula student duo to the increasing interest in electric mobility. This paper presents the development of a permanent magnet synchronous motor for a formula student electric race car. A 10 poles/12...
This paper presents the design and implementation of a current controlled Rotor Flux Oriented PMSM for automotive steer-by-wire applications. The development of a realistic torque feedback reference is carried out by monitoring the steering torque while driving a commercial vehicle. The paper shall discuss the torque dynamics of the PMSM drive with respect to position demands replicating a driver...
Highly automated driving tremendously reduces workload of drivers. However, the drivers may lose their visual attention to road ahead due to the out-of-the-loop problem. Haptic guidance has been developed to reduce drivers' workload while keeping the drivers in the control loop. The haptic guidance system continuously provides assistant torques on the steering wheel so that both the driver and the...
Autonomous Driving (AD) and Advanced Driver Assistance Systems (ADAS) are being vigorously developed for improving traffic safety and transportation efficiency. AD and ADAS need to provide smooth and comfortable driving experiences to drivers and passengers as well as accommodation of other traffic. Individual drivers have different driving styles. This paper proposes a driver-adapted narrow road...
In this paper, a robust and an efficient tracking controller based on model reference adaptive system (MRAS) technique is performed for mobile robot in order to get the accurate trajectory tracking performance. The model reference adaptive system (MRAS) technique has been presented so as to achieve the estimated value of system's speed information. To estimate the rotor position and speed of the mobile...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.