Phase Portrait Trajectory of a 3DOF Vehicular Dynamic Model

2021 ◽  
Author(s):  
An-Ding Zhu ◽  
Guan-Nan He ◽  
Shun-Chang Duan ◽  
Wei-Han Li ◽  
Xian-Xu Bai
Keyword(s):  
Coupling Model ◽  
Front Wheel ◽  
The State ◽  
Slip Angle ◽  
State Variables ◽  
Response Characteristics ◽  
Tire Force ◽  
Yaw Rate ◽  
Wheel Drive ◽  
Three Degree Of Freedom

Abstract This article formulates a front-wheel-drive three-degree-of-freedom (3DOF) four-wheel planar vehicle model with the Magic Formula tire model. The state variables' evolutions of the model, i.e., trajectories of the model under acceleration and deacceleration conditions, are analyzed. The process of evolution is divided into desirable and undesirable phases based on the response characteristics of the vehicle to the driver input during the process. The trajectories are categorized as unsaturated trajectories and saturated trajectories by the existence of saturated tires during these phases. The response of state variables to driver input under acceleration conditions during undesirable phases are zero or even opposite, while the response of undesirable phases under the deacceleration condition is partially positive. Besides, the existing yaw rate safety envelope is recalibrated by using a longitudinal and lateral tire force coupling model. A more accurate yaw rate safety envelope is obtained from the given driver input. Furthermore, a longitudinal speed safety envelope is proposed according to the relationships among slip angle, yaw rate, and longitudinal speed. These safety envelopes are determined by driver input, tire properties, and grip condition. After overlaying yaw rate and longitudinal speed safety envelopes in the state space, the feasibility of using the safety envelope as trajectory classification criteria is discussed.

Regular perturbations to the motion of a three-wheeled mobile robot with the front-wheel drive under restricted state variables*

2020 ◽  
Author(s):  
Roman Chertovskih ◽  
Anna Daryina ◽  
Askhat Diveev ◽  
Dmitry Karamzin ◽  
Fernando L. Pereira ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Front Wheel ◽  
Wheeled Mobile Robot ◽  
State Variables ◽  
Wheel Drive

Test Results: Vehicle Responses to Simulated Drag Caused by Front Tire Tread Detachment — The Effect of Scrub Radius and Speed

2018 ◽  
Author(s):  
Mark W. Arndt ◽  
Stephen M. Arndt
Keyword(s):  
Lateral Displacement ◽  
Rear Wheel ◽  
Lateral Acceleration ◽  
Steering Wheel ◽  
Slip Angle ◽  
Yaw Rate ◽  
Wheel Drive ◽  
Steady State Responses ◽  
Four Wheel Drive ◽  
Left Front

The effects of reduced kingpin offset distance at the ground (scrub radius) and speed were evaluated under controlled test conditions simulating front tire tread detachment drag. While driving in a straight line at target speeds of 50, 60, or 70 mph with the steering wheel locked, the drag of a tire tread detachment was simulated by applying the left front brake with a pneumatic actuator. The test vehicle was a 2001 dual rear wheel four-wheel-drive Ford F350 pickup truck with an 11,500 lb. GVWR. The scrub radius was tested at the OEM distance of 125 mm (Δ = 0) and at reduced distances of 49 mm (Δ = −76) and 11 mm (Δ = −114). The average steady state responses at 70 mph with the OEM scrub radius were: steering torque = −24.5 in-lb; slip angle = −3.8 deg; lateral acceleration = −0.47 g; yaw rate = −8.9 deg/sec; lateral displacement after 0.75 seconds = 3.1 ft and lateral displacement after 1.5 seconds = 13.1 ft. At the OEM scrub radius, responses that increased linearly with speed included: slip angle (R2 = 0.84); lateral acceleration (R2 = 0.93); yaw rate (R2 = 0.73) and lateral displacement (R2 = 0.59 and R2 = 0.87, respectively). At the OEM scrub radius, steer torque decreased linearly with speed (R2 = 0.76) and longitudinal acceleration had no linear relationship with speed (R2 = 0.09). At 60 mph and 70 mph for both scrub radius reductions, statistically significant decreases (CI ≥ 95%) occurred in average responses of steer torque, slip angle, lateral acceleration, yaw rate, and lateral displacement. At 50 mph, reducing the OEM scrub radius to 11 mm resulted in statistically significant decreases (CI ≥ 95%) in average responses of steer torque, lateral acceleration, yaw rate and lateral displacement. At 50 mph the average slip angle response decreased (CI = 87%) when the OEM scrub radius was reduced to 11 mm.

The Effects of Tire Nonlinearity on Vehicle Steering Stability at High Speed

2014 ◽  
Vol 505-506 ◽  
pp. 301-309
Author(s):  
Hua Dong Xu
Keyword(s):  
High Speed ◽  
Necessary Conditions ◽  
Front Wheel ◽  
Vehicle Safety ◽  
Slip Angle ◽  
Vehicle Speed ◽  
Tire Model ◽  
Dynamics Model ◽  
Steering Angle ◽  
Yaw Rate

The steering stability of a vehicle at high speed is the urgent key problem to be solved of automobile independent development. And it is also the premise and one of the necessary conditions of vehicle safety. Considering of the effects of tire nonlinearity, a 4-DOF dynamics model for a vehicle is established. The yaw rate responses, side slip angle, carriage roll angle and front wheel steering angle with different vehicle speeds are calculated. The calculated values are then compared with the values without considering of the effects of tire nonlinearity. The simulations results show that the vehicle responses can be reflected accurately by using nonlinear tire model. With the bigger vehicle speed, the effects of tire nonlinearity on vehicle high-speed steering stability become more obvious.

Analysis of Vehicle Lateral Response During Regenerative Braking in a Turn

2016 ◽  
Author(s):  
C. S. Nanda Kumar ◽  
Shankar C. Subramanian
Keyword(s):  
Rear Wheel ◽  
Front Wheel ◽  
Lateral Acceleration ◽  
Regenerative Braking ◽  
Steering Wheel ◽  
Slip Angle ◽  
Lateral Response ◽  
Wheel Drive ◽  
Reference Track ◽  
The Impact

Regenerative braking is applied only at the driven wheels in electric and hybrid vehicles. The presence of brake force only at the driven wheels reduces the lateral traction limit of the corresponding tires. This impacts the vehicle lateral response, particularly while applying the regenerative brake in a turn. In this paper, a detailed study was made on the impact of regenerative brake on the vehicle lateral response in front wheel drive and rear wheel drive configurations on dry and wet asphalt road surfaces. Simulations were done considering a typical set of vehicle parameters with the IPG CarMaker® software for different drive conditions and braking configurations along the same reference track. The steering wheel angle, yaw rate, lateral acceleration, vehicle slip angle, and tire forces were obtained. Further, they were compared against the conventional all wheel friction brake configuration. The regenerative braking configuration that had the most impact on vehicle lateral response was analyzed and response variations were quantified.

Vehicle Yaw Control Using an Active Front Steering System with Measurements of Lateral Tire Forces

2011 ◽  
Vol 23 (1) ◽  
pp. 83-93 ◽  
Author(s):  
Nobutaka Wada ◽  
◽  
Akihiro Takahashi ◽  
Masami Saeki ◽  
Masaharu Nishimura ◽  
...  
Keyword(s):  
Closed Loop ◽  
Design Method ◽  
Steering System ◽  
Front Wheel ◽  
Slip Angle ◽  
Yaw Control ◽  
Tire Force ◽  
Active Front Steering ◽  
Simulation Results ◽  
Tire Forces

We have proposed a design method of an active front wheel steering controller that guarantees closed-loop stability under lateral tire force saturation. The controller uses lateral tire force information to counteract destabilization caused by such saturation. The controller suppresses slip angle magnitude while lateral tire force is saturated. Numerical simulation results confirmed the effectiveness of the proposed method.

Design of Fuzzy Logic Controller for Four Wheel Steering System

2005 ◽  
Author(s):  
Evren Ozatay ◽  
Samim Y. Unlusoy ◽  
Murat A. Yildirim
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Controller ◽  
Control Strategies ◽  
Steering System ◽  
Front Wheel ◽  
Sideslip Angle ◽  
Yaw Rate ◽  
Nonlinear Vehicle Model ◽  
Three Degree Of Freedom ◽  
Vehicle Dynamics Control

Integration of the driver’s steering input together with the four-wheel steering system (4WS) in order to improve the vehicle’s dynamic behavior with respect to yaw rate and body sideslip angle is possible with intelligent vehicle dynamics control systems. The goal of this study is to develop a fuzzy logic controller for this purpose. In the first stage of the study, a three-degree of freedom nonlinear vehicle model including roll dynamics is developed. The Magic Formula is applied in order to formulate the nonlinear characteristics of the tires. In the design of the fuzzy logic controller, a two-dimensional rule table is created based on the error and on the change in the error of sideslip angle, which is to be minimized. Fuzzy logic controlled model is then compared with front wheel steering vehicle and the vehicles having different control strategies that have previously been studied in literature. Simulations indicate that fuzzy logic controlled vehicle can provide zero body sideslip angle in transient motion and quick response in terms of yaw rate during steady state cornering and lane change maneuvers.

Control Methods of Active Front Wheel Steering for 4WD Electric Vehicle

2011 ◽  
Vol 97-98 ◽  
pp. 735-740
Author(s):  
Ming Hui Zhao ◽  
Lian Dong Wang ◽  
Lei Ma ◽  
Hui Hou
Keyword(s):  
Control Method ◽  
Front Wheel ◽  
Control Input ◽  
Feedback Controllers ◽  
Sideslip Angle ◽  
Yaw Rate ◽  
Wheel Drive ◽  
Model Control ◽  
Four Wheel Drive ◽  
Yaw Moment

Based on two freedom degrees of vehicle model, control method which takes yaw rate and sideslip angle as system state, and front wheel corner and direct yaw moment as control input is put forward. Considering uncertainty of velocity and direct yaw moment, feedforward-feedback controllers are designed. Four wheel drive force are allocated by using feedforward compensation and yaw moment which is formed by driving force difference value. It makes yaw rate and sideslip well of tracking the desirable model when the vehicle drive steering. Finally, vehicle handling stability is studied on conditions of step input and sine input by simulation.

Normalization of Tire Force and Moment Data

1993 ◽  
Vol 21 (2) ◽  
pp. 91-119 ◽  
Author(s):  
H. S. Radt ◽  
D. A. Glemming
Keyword(s):  
Surface Water ◽  
Lateral Force ◽  
Slip Angle ◽  
Inflation Pressure ◽  
Slip Ratio ◽  
Tire Force ◽  
Camber Angle ◽  
Potential Benefits ◽  
Overturning Moment ◽  
Semi Empirical

Abstract Semi-empirical theories of tire mechanics are employed to determine appropriate means to normalize forces, moments, angles, and slip ratios. Force and moment measurements on a P195/70R 14 tire were normalized to show that data at different loads could then be superimposed, yielding close to one normalized curve. Included are lateral force, self-aligning torque, and overturning moment as a function of slip angle, inclination angle, slip ratio, and combinations. It is shown that, by proper normalization of the data, one need only determine one normalized force function that applies to combinations of slip angle, camber angle, and load or slip angle, slip ratio, and load. Normalized curves are compared for the effects of inflation pressure and surface water thickness. Potential benefits as well as limitations and deficiencies of the approach are presented.

Non Linear State and Parameters Estimation in Chemical Processes: Analysis and Improvement of Three Estimation Structures Applied to a CSTR

2011 ◽  
Vol 9 (1) ◽  
Author(s):  
Héctor Botero ◽  
Hernán Álvarez
Keyword(s):  
Parameter Estimation ◽  
Chemical Process ◽  
Chemical Processes ◽  
The State ◽  
Convergence Speed ◽  
Parameters Estimation ◽  
State Variables ◽  
Input Output ◽  
On Line ◽  
Linear State

This paper proposes a new composite observer capable of estimating the states and unknown (or changing) parameters of a chemical process, using some input-output measurements, the phenomenological based model and other available knowledge about the process. The proposed composite observer contains a classic observer (CO) to estimate the state variables, an observer-based estimator (OBE) to obtain the actual values of the unknown or changing parameters needed to tune the CO, and an asymptotic observer (AO) to estimate the states needed as input to the OBE. The proposed structure was applied to a CSTR model with three state variables. With the proposed structure, the concentration of reactants and other CSTR parameters can be estimated on-line if the reactor and jacket temperatures are known. The procedure for the design of the proposed structure is simple and guarantees observer convergence. In addition, the convergence speed of state and parameter estimation can be adjusted independently.

scholarly journals Ground maneuver for front-wheel drive aircraft via deep reinforcement learning

2021 ◽  
Author(s):  
Hao Zhang ◽  
Zongxia Jiao ◽  
Yaoxing Shang ◽  
Xiaochao Liu ◽  
Pengyuan Qi ◽  
...  
Keyword(s):  
Reinforcement Learning ◽  
Front Wheel ◽  
Wheel Drive
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