Ring Motor Front Wheel for Electric Motorcycle

To solve the urbanization and the economic challenges, a virtual track train (VTT) transportation system has been proposed in China. To evaluate the dynamic behavior of the VTT, a spatial dynamics model has been developed that considers the suspension system and the steering system. Additionally, the model takes into account road irregularity to make simulations more realistic. Based on the newly proposed dynamic model and a designed proportional–integral–derivative (PID) controller, simulation frames of the vehicle and of the VTT are established with the path-tracking performance. The results show that the vehicle and the VTT can run along a desired lane with allowable errors, verifying the proposed model. The vehicle and VTT with the four-wheel steering system show a better dynamic performance than the models with the front-wheel steering system in the curved section. Moreover, the simulation frame can be further applied to dynamics-related assessments, parameter optimization and active suspension control strategy.

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Coordination of Lateral Vehicle Control Systems Using Learning-Based Strategies

Energies ◽

10.3390/en14051291 ◽

2021 ◽

Vol 14 (5) ◽

pp. 1291

Author(s):

Balázs Németh

Keyword(s):

Control System ◽

Control Systems ◽

Coordinated Control ◽

Front Wheel ◽

Steering Angle ◽

Conventional Model ◽

Linear Parameter Varying ◽

Coordination Strategy ◽

Torque Vectoring ◽

Performance Specifications

The paper proposes a novel learning-based coordination strategy for lateral control systems of automated vehicles. The motivation of the research is to improve the performance level of the coordinated system compared to the conventional model-based reconfigurable solutions. During vehicle maneuvers, the coordinated control system provides torque vectoring and front-wheel steering angle in order to guarantee the various lateral dynamical performances. The performance specifications are guaranteed on two levels, i.e., primary performances are guaranteed by Linear Parameter Varying (LPV) controllers, while secondary performances (e.g., economy and comfort) are maintained by a reinforcement-learning-based (RL) controller. The coordination of the control systems is carried out by a supervisor. The effectiveness of the proposed coordinated control system is illustrated through high velocity vehicle maneuvers.

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A novel path tracking approach considering safety of the intended functionality for autonomous vehicles

Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering ◽

10.1177/09544070211020535 ◽

2021 ◽

pp. 095440702110205

Author(s):

Huiran Wang ◽

Qidong Wang ◽

Wuwei Chen ◽

Linfeng Zhao ◽

Dongkui Tan

Keyword(s):

Autonomous Vehicles ◽

Autonomous Vehicle ◽

Coordinated Control ◽

Steering System ◽

Front Wheel ◽

Path Tracking ◽

Hierarchical Architecture ◽

Automatic Steering ◽

The Stability ◽

Control Layer

To reduce the adverse effect of the functional insufficiency of the steering system on the accuracy of path tracking, a path tracking approach considering safety of the intended functionality is proposed by coordinating automatic steering and differential braking in this paper. The proposed method adopts a hierarchical architecture consisting of a coordinated control layer and an execution control layer. In coordinated control layer, an extension controller considering functional insufficiency of the steering system, tire force characteristics and vehicle driving stability is proposed to determine the weight coefficients of automatic steering and the differential braking, and a model predictive controller is designed to calculate the desired front wheel angle and additional yaw moment. In execution control layer, a H∞ steering angle controller considering external disturbances and parameter uncertainty is designed to track desired front wheel angle, and a braking force distribution module is used to determine the wheel cylinder pressure of the controlled wheels. Both simulation and experiment results show that the proposed method can overcome the functional insufficiency of the steering system and improve the accuracy of path tracking while maintaining the stability of the autonomous vehicle.

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Implementation of Modified Tangent Bug Navigation Algorithm for Front Wheel Steered and Differential-Drive Robots

2020 International Symposium on Recent Advances in Electrical Engineering & Computer Sciences (RAEE & CS) ◽

10.1109/raeecs50817.2020.9265853 ◽

2020 ◽

Author(s):

Sofia Yousuf ◽

Muhammad Bilal Kadri

Keyword(s):

Front Wheel ◽

Differential Drive ◽

Navigation Algorithm

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Differential steering-based electric vehicle lateral dynamics control with rollover consideration

Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering ◽

10.1177/0959651819855810 ◽

2019 ◽

Vol 234 (3) ◽

pp. 338-348

Author(s):

Hui Jing ◽

Rongrong Wang ◽

Cong Li ◽

Jinxiang Wang

Keyword(s):

Electric Vehicles ◽

Measurement Problem ◽

Low Cost ◽

Steering System ◽

Front Wheel ◽

Steering Control ◽

Lateral Velocity ◽

Lateral Dynamics ◽

Vehicle Rollover ◽

Differential Steering

This article investigates the differential steering-based schema to control the lateral and rollover motions of the in-wheel motor-driven electric vehicles. Generated from the different torque of the front two wheels, the differential steering control schema will be activated to function the driver’s request when the regular steering system is in failure, thus avoiding dangerous consequences for in-wheel motor electric vehicles. On the contrary, when the vehicle is approaching rollover, the torque difference between the front two wheels will be decreased rapidly, resulting in failure of differential steering. Then, the vehicle rollover characteristic is also considered in the control system to enhance the efficiency of the differential steering. In addition, to handle the low cost measurement problem of the reference of front wheel steering angle and the lateral velocity, an [Formula: see text] observer-based control schema is presented to regulate the vehicle stability and handling performance, simultaneously. Finally, the simulation is performed based on the CarSim–Simulink platform, and the results validate the effectiveness of the proposed control schema.

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Feedback control framework for car-like robots using the unicycle controllers

Robotica ◽

10.1017/s0263574711000750 ◽

2011 ◽

Vol 30 (4) ◽

pp. 517-535 ◽

Cited By ~ 23

Author(s):

Maciej Michałek ◽

Krzysztof Kozłowski

Keyword(s):

Stability Analysis ◽

Feedback Control ◽

Closed Loop ◽

Path Following ◽

Rear Wheel ◽

Front Wheel ◽

Steering Angle ◽

Formal Stability ◽

Control Framework ◽

Error Dynamics

SUMMARYThe paper introduces a novel general feedback control framework, which allows applying the motion controllers originally dedicated for the unicycle model to the motion task realization for the car-like kinematics. The concept is formulated for two practically meaningful motorizations: with a front-wheel driven and with a rear-wheel driven. All the three possible steering angle domains for car-like robots—limited and unlimited ones—are treated. Description of the method is complemented by the formal stability analysis of the closed-loop error dynamics. The effectiveness of the method and its limitations have been illustrated by numerous simulations conducted for the three main control tasks, namely, for trajectory tracking, path following, and set-point regulation.

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Vehicle coupled bifurcation analysis of steering angle and driving torque

Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering ◽

10.1177/0954407020985405 ◽

2021 ◽

pp. 095440702098540

Author(s):

Xianbin Wang ◽

Shuming Shi

Keyword(s):

Bifurcation Analysis ◽

Hybrid Method ◽

Vehicle Dynamics ◽

Front Wheel ◽

Steering Angle ◽

Driving Mode ◽

Vehicle System ◽

Autonomous Equation ◽

Real Coded Genetic Algorithm ◽

Driving Torque

The mechanism of vehicle dynamics steering bifurcation has almost been confirmed. But the present steering bifurcation mechanism cannot explain the bifurcation phenomena caused by the driving torque. As a result, the vehicle coupled bifurcation analysis of the steering angle and driving torque has not been studied. Based on the five degrees of freedom (5DOF) vehicle system dynamics model with driving torque involved, the vehicle dynamics equilibriums under different driving torque and driving mode were searched by a hybrid method in this paper. The hybrid method combined the real-coded Genetic Algorithm with Quasi-Newton gradient method. According to the definition of static bifurcation of nonlinear systems, the equilibrium bifurcation of 5DOF vehicle system was confirmed. Then, the 5DOF vehicle system model was transformed into autonomous equation with the front wheel steering angle as intermediate variable. From the two aspects of constant steering angle amplitude and constant driving torque, the bifurcation diagrams of different driving mode were calculated. The vehicle coupled bifurcation characteristics of steering angle and driving torque were analyzed. The results show that the values of the driving torque will directly affect the bifurcation characteristics of vehicle dynamics system. The coupled feature of the front wheel steering angle and driving torque effect on vehicle bifurcation is obvious.

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Design Considerations for Full-Size, Front-Wheel-Drive Vehicles

10.4271/750014 ◽

1975 ◽

Author(s):

Donald L. Nordeen ◽

Richard C. Manwaring ◽

Dennis E. Condon

Keyword(s):

Front Wheel ◽

Full Size ◽

Design Considerations ◽

Wheel Drive

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