A Novel Model-Based Steering Control for Hydra-Power Articulated Steering Vehicles

2020 ◽  
Author(s):  
Lulu Gao ◽  
Chun Jin ◽  
Yuchao Liu ◽  
Fei Ma ◽  
Zhipeng Feng
Keyword(s):  
Dynamic Model ◽  
Coupled Model ◽  
Steering System ◽  
Dynamic Responses ◽  
Structural Method ◽  
Steering Control ◽  
Nonlinear Dynamic Model ◽  
Model Based ◽  
Hydraulic Steering ◽  
Novel Model

Abstract The hydra-power articulated steering vehicles possess brilliant maneuverability and efficiency, and they were widely applied in mining, construction, agriculture, and forestry. However, the steering characteristic also deduced a serious handling stability problem of this type of vehicle, i.e., oscillation in yaw motion. Previous research only analyzed the stability of the vehicle dynamical system or provided a passive structural method to suppress the oscillation of articulated vehicles. This work presents a novel model-based steering control of articulated steering vehicles. A coupled nonlinear dynamic model was established firstly, in which nonlinear models of the hydraulic system and dynamic model of articulated frames were included. Then the coupled model was validated in time and frequency domain by a field test. The susceptibility of different factors of the system oscillation was investigated by simulation based on the validated model. On this foundation, an optimized scheme of the hydraulic steering system was provided. Further a novel control strategy, in which the articulation angle and corresponding angular velocity were considered together as the control variables of the system, was embedded into the optimized system. Comparing results in dynamic responses of articulated frames, ripples in the hydraulic steering system shown the effectiveness and superiority of the presented method.

Co-Simulation of Power Steering Control and Vehicle Dynamic Responses

2001 ◽  
Author(s):  
Gene Y. Liao
Keyword(s):  
Dynamic Model ◽  
General Purpose ◽  
Dynamic Responses ◽  
Steering Wheel ◽  
Vehicle Dynamic ◽  
Steering Control ◽  
Integrated Simulation ◽  
Full Vehicle ◽  
Power Steering ◽  
Vehicle Dynamic Model

Abstract Many general-purpose and specialized simulation codes are becoming more flexible which allows analyses to be carried out simultaneously in a coupled manner called co-simulation. Using co-simulation technique, this paper develops an integrated simulation of an Electric Power Steering (EPS) control system with a full vehicle dynamic model. A full vehicle dynamic model interacting with EPS control algorithm is concurrently simulated on a single bump road condition. The effects of EPS on the vehicle dynamic behavior and handling responses resulting from steer and road input are analyzed and compared with proving ground experimental data. The comparisons show reasonable agreement on tie-rod load, rack displacement, steering wheel torque and tire center acceleration. This developed co-simulation capability may be useful for EPS performance evaluation and calibration as well as for vehicle handling performance integration.

scholarly journals Rattle dynamics of noncircular face gear under multifrequency parametric excitation

2021 ◽  
Vol 12 (1) ◽  
pp. 361-373
Author(s):  
Dawei Liu ◽  
Zhenzhen Lv ◽  
Guohao Zhao
Keyword(s):  
Dynamic Model ◽  
Parametric Excitation ◽  
Nonlinear Dynamic ◽  
Velocity Ratio ◽  
Harmonic Balance Method ◽  
Transmission Error ◽  
Dynamic Responses ◽  
Discrete Fourier Transformation ◽  
Nonlinear Dynamic Model ◽  
Face Gear

Abstract. A noncircular face gear (NFG) conjugated with a pinion is a new type of face gear which can transmit variable velocity ratio and in which two time-varying excitations exist, namely the meshing stiffness excitation and instantaneous center excitation. Considering the tooth backlash, static transmission error and multifrequency parametric excitation, a nonlinear dynamic model of the NFG pair is presented. Based on the harmonic balance method and discrete Fourier transformation, a semi-analytic approach for the nonlinear dynamic model is given to analyze the dynamic behaviors of the NFG. Results demonstrate that, with increase in the eccentric ratio, input velocity and error amplitude, the NFG will undergo a non-rattle, unilateral rattle and bilateral rattle state in succession, and a jump phenomenon will appear in the dynamic responses when the rattle state of the gears is transformed from unilateral rattle to bilateral rattle.

Dynamic effects on spur gear pairs power loss lubricated with axle gear oils

2019 ◽  
Vol 234 (5) ◽  
pp. 1069-1084 ◽  
Author(s):  
Maroua Hammami ◽  
Nabih Feki ◽  
Olfa Ksentini ◽  
Taissir Hentati ◽  
Mohamed Slim Abbes ◽  
...  
Keyword(s):  
Dynamic Model ◽  
Power Loss ◽  
Degrees Of Freedom ◽  
Experimental Tests ◽  
Spur Gear ◽  
Operating Conditions ◽  
Dynamic Responses ◽  
Dynamic Effects ◽  
Nonlinear Dynamic Model ◽  
Gear Oils

The dynamic model of 12-degrees-of-freedom for spur gears pair accounting for nonlinear time-varying stiffness, damping, and coefficient of friction along the path of contact obtained from experimental tests is investigated. The Newmark's integration method is used to solve the equations and obtain the dynamic responses. Elementary mass, stiffness, and damping matrices with torsional and translational coupled effects were detailed. The lens of this work is to start from a nonlinear dynamic model to evaluate the influence of dynamic effects and lubrication on meshing gears power loss for different spur gear geometries within various operating conditions. The results reveal some useful references to vibration control, dynamic design, and efficiency improvement.

Analysis on the vibration reduction for a new rigid–flexible gear transmission system

2021 ◽  
pp. 107754632110132
Author(s):  
Zhibo Geng ◽  
Junyang Li ◽  
Ke Xiao ◽  
Jiaxu Wang
Keyword(s):  
Dynamic Model ◽  
Vibration Reduction ◽  
Surface Friction ◽  
Transmission System ◽  
Gear Transmission ◽  
Dynamic Responses ◽  
Gear Pair ◽  
Nonlinear Dynamic Model ◽  
Gear Transmission System ◽  
Flexible Gear

In this study, a new rigid–flexible gear with metal rubber is proposed to reduce the vibration of the gear transmission system. A nonlinear dynamic model with nine degrees of freedom considering bearing clearance, gear backlash, surface friction, and time-varying meshing stiffness is established. The nondimensional dynamic model of the transmission system is obtained and the bifurcation characteristics of the new rigid–flexible gear pair and the rigid gear pair are analyzed when the damping coefficient is, respectively, 0.03 and 0.1. The result shows that the motion state of the rigid–flexible gear pair is more stable. The dynamic responses of the rigid gear pair and the rigid–flexible gear pair are compared as well through numerical analysis and experiment to illustrate the advantage of the rigid–flexible gear pair in vibration reduction. The results can provide reference for vibration reduction of the novel gear transmission.

scholarly journals Hybrid Model-Based Analysis of Underground Articulated Vehicles Steering Characteristics

2019 ◽  
Vol 9 (24) ◽  
pp. 5274
Author(s):  
Lulu Gao ◽  
Chun Jin ◽  
Yuchao Liu ◽  
Fei Ma ◽  
Zhipeng Feng
Keyword(s):  
Dynamic Model ◽  
Hybrid Model ◽  
Field Test ◽  
Steering System ◽  
Underground Mines ◽  
Maximum Deviation ◽  
Model Based ◽  
Articulated Vehicles ◽  
Steering Characteristics ◽  
Hydraulic Power Steering

Owing to the harsh environment of underground mines, autonomous underground articulated vehicles (UAVs) with precise control and positioning system are particularly important. However, the ambiguity of steering characteristics hinders the development of UAVs. This study presents a model-based method to uncover the steering characteristics of a UAV. Firstly, a hybrid model of UAV was established, which included a dynamic model of articulated frames and a model of the hydraulic power steering system. Secondly, a field test of a typical UAV, a load-haul-dump (LHD) with 4 m3 capacity, was carried out. In order to verify the correctness of the established model and the accuracy of the involved parameters, the field test results were used to verify the dynamic model in time and frequency domains. Then, the steering characteristics of the UAV were uncovered based on the verified hybrid model, and the results showed that the increased load would increase ‘oversteering’ under the same articulation angle and that the error of trajectory exceeded 0.3 m. In addition, the deviations of trajectories between the two frames were revealed during the transient steering process, and the maximum deviation reached 0.21 m when the velocity was 2 m/s and the articulation angle was 15°. The comprehensive results indicate that the steering characteristics of UAVs cannot be ignored in regard to precise autonomous control and positioning.

Input-Constrained-Nonlinear-Dynamic-Model-Based Predictive Position Control of Planar Motors

2020 ◽  
pp. 1-1
Author(s):  
Su-Dan Huang ◽  
Zhi-Yong Hu ◽  
Guang-zhong Cao ◽  
Jiangbiao He ◽  
Gang Jing ◽  
...  
Keyword(s):  
Dynamic Model ◽  
Nonlinear Dynamic ◽  
Position Control ◽  
Nonlinear Dynamic Model ◽  
Model Based

Dynamics research on actively controlled swashplateless rotor

2019 ◽  
Vol 233 (12) ◽  
pp. 4492-4508
Author(s):  
Yu Jin ◽  
Liu Yong ◽  
Yang Weidong
Keyword(s):  
Dynamic Model ◽  
Control Strategy ◽  
Rotor Blade ◽  
Mechanical Stability ◽  
Dynamic Responses ◽  
Nonlinear Dynamic Model ◽  
Rotor Systems ◽  
Pitch Control ◽  
Dynamic Mechanisms ◽  
Control Response

This study presents the design, dynamic model, and dynamics research of a new cyclic pitch control strategy in motor-driven rotorcraft. In this strategy, the control response and flapping feature of conventional rotor systems can be obtained by imposing (1) a lag-pitch coupling on rotor blade and (2) an additional sinusoidal rotational speed of rotor shaft without any actuators or swashplate. This study establishes a refined nonlinear dynamic model including the effects of pitch motion, and figures out the fundamental dynamic characteristics of this novel configuration. Analyses of its mechanical stability, dynamic responses and stability in hover are also conducted. The model in this research, compared with the previous linear model, improves the predicting accuracies of dynamic responses remarkably. A preliminary understanding of this novel rotor's dynamic mechanisms is gained by this study.

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