A linear lateral dynamic model of skid steered wheeled vehicle

2013 ◽  
Author(s):  
Zhang Yu ◽  
Hu Jibin ◽  
Li Xueyuan ◽  
Lyu Shupeng ◽  
Guo Jing
Keyword(s):  
Dynamic Model ◽  
Wheeled Vehicle

An observation algorithm for key motion states of skid-steered wheeled unmanned vehicle

2021 ◽  
pp. 095440702110583
Author(s):  
Xing Zhang ◽  
Weiya Pei ◽  
Xufeng Yin ◽  
Shihua Yuan
Keyword(s):  
Kalman Filter ◽  
Dynamic Model ◽  
Dynamic Control ◽  
Dynamic State ◽  
Kinematic Parameters ◽  
Filter Theory ◽  
Unmanned Vehicle ◽  
Tire Force ◽  
Wheeled Vehicle ◽  
Skid Steering

With the increasing demand of military and civilian in the intelligent vehicles, the skid-steering theory has been widely used in unmanned ground vehicles, especially in unmanned military vehicles and unmanned surveillance platforms. Due to its driving environment complex and variable, which requires stricter dynamic control system. In order to improve the active safety performance of the skid-steering unmanned vehicle and develop the key technologies such as behavior decision planning technology, path tracking, and dynamic control technology, it is necessary to develop the dynamic state parameter observation system based on skid-steering theory. In this paper, an observation using Strong Track External Kalman Filter theory with noise matrix adaptive is designed to estimate vehicle kinematic parameters based on a 6 × 6 skid-steered unmanned vehicle. First, kinematic and dynamic model is built to analyze the characters of a skid-steered wheeled vehicle. Then a tire force estimation method based on dynamic model is presented to observe the tire longitude and vertical force. The tire force data is also used by Dugoff nonlinear model. Then an External Kalman Filter theory is designed to estimate vehicle kinematic parameters. To increase the accuracy and the robustness of the observer, the Strong Tracking EKF (STEKF) and noise adaptive adjustment is designed. Finally, a combined simulation using TruckSim and Simulink and the experiment using a 6 × 6 skid-steered unmanned vehicle verifies the efficiency of the observer. Results show that the observer is able to estimate the skid-steered wheeled vehicle states, and it also shows that the yaw rate result in the slip angle difference between each tire.

A novel nonlinear controller for enhancement of the transient dynamics performance of a three-wheeled vehicle during different conditions

2021 ◽  
pp. 146441932110499
Author(s):  
Mohammad Amin Saeedi
Keyword(s):  
Control System ◽  
Feedback Control ◽  
Dynamic Model ◽  
Control Method ◽  
Full Range ◽  
Nonlinear Controller ◽  
Lateral Dynamics ◽  
Braking System ◽  
Wheeled Vehicle ◽  
Feedback Control Method

In this study, a new controller to prevent the yaw instability and rollover of a three-wheeled vehicle has been proposed. This controller offers the most obvious opportunity for affecting the vehicle's lateral dynamics performance on the full range of nonlinearities during various operating boundaries. The active combined controller has been designed based on sliding mode control method using an active roll system and an active braking system to dominate the uncertainties of the nonlinear dynamic model. Firstly, to avoid rollover of the three-wheeled vehicle, the roll angle was considered as the control objective, and the anti-roll bar was employed as an actuator to produce the roll moment. Secondly, to increase the maneuverability and lateral dynamics enhancement, an active braking system was designed. In the control system, the yaw rate and the lateral velocity were regarded as the control variables to track their references. Moreover, to verify the performance of the mentioned combined controller, another control system has been designed using the linearization feedback control method. Then, computer simulation has been carried out with a 12 degrees of freedom dynamic model of the three-wheeled vehicle called the delta. Furthermore, a nonlinear tire model has been utilized to compute the longitudinal and the lateral forces. Next, the comparative simulation results confirmed the effectiveness of the robust control system to raise the vehicle's maneuverability and its rollover stability in comparison with the linearization feedback control method, especially when the three-wheeled vehicle is subjected to critical conditions.

Short-term volume and turgor regulation in yeast

2008 ◽  
Vol 45 ◽  
pp. 147-160 ◽  
Author(s):  
Jörg Schaber ◽  
Edda Klipp
Keyword(s):  
Dynamic Model ◽  
Volume Change ◽  
Volume Regulation ◽  
Time Course ◽  
Osmotic Shock ◽  
Intracellular Concentration ◽  
Short Term ◽  
Hydrodynamic Property ◽  
Turgor Regulation ◽  
Thermodynamic Framework

Volume is a highly regulated property of cells, because it critically affects intracellular concentration. In the present chapter, we focus on the short-term volume regulation in yeast as a consequence of a shift in extracellular osmotic conditions. We review a basic thermodynamic framework to model volume and solute flows. In addition, we try to select a model for turgor, which is an important hydrodynamic property, especially in walled cells. Finally, we demonstrate the validity of the presented approach by fitting the dynamic model to a time course of volume change upon osmotic shock in yeast.

THE STATISTICAL GEOMETRY OF THE STRUCTURE OF THE MOLECULAR DYNAMIC MODEL OF LIQUID AND AMORPHOUS ALUMINIUM

1980 ◽  
Vol 41 (C8) ◽  
pp. C8-284-C8-288 ◽  
Author(s):  
V. A. Poluchin ◽  
M. M. Dzugutov ◽  
V. F. Uchov ◽  
R. A. Vatolin
Keyword(s):  
Molecular Dynamic ◽  
Dynamic Model ◽  
Statistical Geometry ◽  
Molecular Dynamic Model

Study of the dynamics of ТПА 350 automatic mill working stand elements

2020 ◽  
Vol 76 (8) ◽  
pp. 830-840
Author(s):  
S. R. Rakhmanov ◽  
V. V. Povorotnii
Keyword(s):  
Mechanical System ◽  
Dynamic Model ◽  
Maximum Amplitude ◽  
Calculation Scheme ◽  
Dynamic Loads ◽  
Forced Oscillations ◽  
Mass Model ◽  
Automatic Mill ◽  
Hollow Billet ◽  
Oscillation Movement

To form a necessary geometry of a hollow billet to be rolled at a pipe rolling line, stable dynamics of the base equipment of the automatic mill working stand has a practical meaning. Among the forces, acting on its parts and elements, significant by value short-time dynamic loads are the least studied phenomena. These dynamic loads arise during transient interaction of the hollow billet, rollers, mandrel and other mill parts at the forced grip of the hollow billet. Basing of the calculation scheme and dynamic model of the mechanical system of the ТПА 350 automatic mill working stand was accomplished. A mathematical model of dynamics of the system “hollow billet (pipe) – working stand” within accepted calculation scheme and dynamic model of the mechanical system elaborated. Influence of technological load of the rolled hollow billet variation in time was accounted, as well as variation of the mechanical system mass, and rigidity of the ТПА 350 automatic mill working stand. Differential equations of oscillation movement for four-mass model of forked sub-systems of the automatic mill working stand were made up, results of their digital calculation quoted. Dynamic displacement of the stand elements in the inter-roller gap obtained, which enabled to estimate the results of amplitude and frequency characteristics of the branches of the mill rollers setting. It was defined by calculation, that the maximum amplitude of the forced oscillations of elements of the ТПА 350 automatic mill working stand within the inter-roller gap does not exceed 2 mm. It is much higher than the accepted value of adjusting parameters of the deformation center of the ТПА 350 automatic mill. A scheme of comprehensive modernization of the rollers setting in the ТПА 350 automatic mill working stand was proposed. It was shown, that increase of rigidity of rollers setting in the ТПА 350 automatic mill working stand enables to stabilize the amplitude of forced oscillations of the working stand elements within the inter-rollers gap and considerably decrease the induced nonuniform hollow billet wall thickness and increase quality of the rolled pipes at ТПА 350.

J. Tobin's Monetary Dynamic Model and the Analysis of Russian Economy

2009 ◽  
pp. 70-93
Author(s):  
V. Manevich
Keyword(s):  
Dynamic Model ◽  
Economic Thought ◽  
Financial Policies ◽  
Russian Economy ◽  
Q Theory ◽  
Keynesian Economic ◽  
The Relationship ◽  
Monetary Assets

The paper considers the monetary dynamic model developed by J. Tobin, the leader of Keynesian economic thought in 1970-1990. Particularly, the author examines q-theory of investment proposed by Tobin which allows to expose the relationship between supply of monetary assets and investment in real capital. Application of various tools of monetary and financial policies is also considered in its different forms. The author aspires to use Tobin's model for the analysis of processes existing in the Russian economy and to test theoretical propositions and relationships elaborated by Tobin on Russian statistics.

Sign in / Sign up

Export Citation Format

Share Document