Comparison of Analytical and Empirical Models to Capture Variations in Off-Road Vehicle Dynamics

Design Engineering, Parts A and B ◽

10.1115/imece2005-81660 ◽

2005 ◽

Cited By ~ 4

Author(s):

Paul J. Pearson ◽

David M. Bevly

Keyword(s):

Empirical Data ◽

Vehicle Dynamics ◽

Experimental Validation ◽

Inertial Sensors ◽

Analytical Models ◽

Control Algorithms ◽

Model Parameters ◽

Steering Control ◽

Steering Angle ◽

Yaw Rate

This paper develops two analytical models that describe the yaw dynamics of a farm tractor and can be used to design or improve steering control algorithms for the tractor. These models are verified against empirical data. The particular dynamics described are the motions from steering angle to yaw rate. A John Deere 8420 tractor, outfitted with inertial sensors and controlled through a PC-104 form factor computer, was used for experimental validation. Conditions including different implements at varying depths, as would normally be found on a farm, were tested. This paper presents the development of the analytical models, validates them against empirical data, and gives trends on how the model parameters change for different configurations.

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Vehicle Dynamics Control Based on Linear Quadratic Regulator

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.16-19.876 ◽

2009 ◽

Vol 16-19 ◽

pp. 876-880

Author(s):

Si Qi Zhang ◽

Tian Xia Zhang ◽

Shu Wen Zhou

Keyword(s):

Control Strategy ◽

Vehicle Dynamics ◽

Linear Quadratic Regulator ◽

Active Safety ◽

Vehicle Stability ◽

Steering Control ◽

Linear Quadratic ◽

Yaw Rate ◽

Vehicle Dynamics Control ◽

Yaw Moment

The paper presents a vehicle dynamics control strategy devoted to prevent vehicles from spinning and drifting out. With vehicle dynamics control system, counter braking are applied at individual wheels as needed to generate an additional yaw moment until steering control and vehicle stability were regained. The Linear Quadratic Regulator (LQR) theory was designed to produce demanded yaw moment according to the error between the measured yaw rate and desired yaw rate. The results indicate the proposed system can significantly improve vehicle stability for active safety.

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Adaptive steering control for uncertain vehicle dynamics with crosswind effects and steering angle constraints

2008 IEEE International Conference on Vehicular Electronics and Safety ◽

10.1109/icves.2008.4640911 ◽

2008 ◽

Cited By ~ 7

Author(s):

Nazli E. Kahveci

Keyword(s):

Vehicle Dynamics ◽

Steering Control ◽

Steering Angle

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Coupled Pitch Links for Multiharmonic Isolation Using Fluidic Circuits

Journal of the American Helicopter Society ◽

10.4050/jahs.59.042005 ◽

2014 ◽

Vol 59 (4) ◽

pp. 1-11

Author(s):

Lloyd H. Scarborough III ◽

Christopher D. Rahn ◽

Edward C. Smith ◽

Kevin L. Koudela

Keyword(s):

Experimental Validation ◽

Analytical Models ◽

Main Rotor ◽

Fluidic Devices ◽

Simulation Results ◽

Fluidic Circuits ◽

Blade Loads

Replacing stiff pitch links on rotorcraft with coupled fluidic devices has the potential to reduce the aerodynamic blade loads transmitted through the pitch links to the swashplate. Analytical models of two fluidic devices coupled with three different fluidic circuits are derived. These passive fluidlastic systems are tuned, by varying the fluid inertances and capacitances of each fluidic circuit, to reduce the transmitted pitch-link loads. The different circuit designs result in transmitted pitch-link loads reduction at up to three main rotor harmonics. The simulation results show loads reduction at the targeted out-of-phase and in-phase harmonics of up to 88% and 93%, respectively. Experimental validation of two of the fluidic circuits demonstrates loads reduction of up to 89% at the out-of-phase isolation frequencies and up to 81% at the in-phase isolation frequencies.

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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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Real-time experimental validation of nonlinear observer for vehicle dynamics parameters estimation: A laboratory vehicle description

2012 IEEE International Conference on Vehicular Electronics and Safety (ICVES 2012) ◽

10.1109/icves.2012.6294286 ◽

2012 ◽

Cited By ~ 3

Author(s):

Bin Wang ◽

Qi Cheng ◽

Alessandro Correa Victorino ◽

Ali Charara

Keyword(s):

Real Time ◽

Vehicle Dynamics ◽

Experimental Validation ◽

Parameters Estimation ◽

Nonlinear Observer

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Frequency Shaped Semi-Active Control for Magnetorheological Fluid-Based Vibration Control Systems

Volume 1: Development and Characterization of Multifunctional Materials; Modeling, Simulation and Control of Adaptive Systems; Integrated System Design and Implementation ◽

10.1115/smasis2013-3268 ◽

2013 ◽

Author(s):

Young-Tai Choi ◽

Norman M. Wereley ◽

Gregory J. Hiemenz

Keyword(s):

Vibration Control ◽

Control Systems ◽

Active Control ◽

Control Algorithm ◽

Active Vibration Control ◽

Control Algorithms ◽

Model Parameters ◽

Mr Fluid ◽

Control Current ◽

Active Vibration

Novel semi-active vibration controllers are developed in this study for magnetorheological (MR) fluid-based vibration control systems, including: (1) a band-pass frequency shaped semi-active control algorithm, (2) a narrow-band frequency shaped semi-active control algorithm. These semi-active vibration control algorithms designed without resorting to the implementation of an active vibration control algorithms upon which is superposed the energy dissipation constraint. These new Frequency Shaped Semi-active Control (FSSC) algorithms require neither an accurate damper (or actuator) model, nor system identification of damper model parameters for determining control current input. In the design procedure for the FSSC algorithms, the semi-active MR damper is not treated as an active force producing actuator, but rather is treated in the design process as a semi-active dissipative device. The control signal from the FSSC algorithms is a control current, and not a control force as is typically done for active controllers. In this study, two FSSC algorithms are formulated and performance of each is assessed via simulation. Performance of the FSSC vibration controllers is evaluated using a single-degree-of-freedom (DOF) MR fluid-based engine mount system. To better understand the control characteristics and advantages of the two FSSC algorithms, the vibration mitigation performance of a semi-active skyhook control algorithm, which is the classical semi-active controller used in base excitation problems, is compared to the two FSSC algorithms.

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Control algorithms for discrete delayed systems with unknown inputs and model parameters using nonparametric technique

2017 International Conference on Information and Digital Technologies (IDT) ◽

10.1109/dt.2017.8024321 ◽

2017 ◽

Author(s):

Valery I. Smagin ◽

Gennady M. Koshkin ◽

Konstantin S. Kim

Keyword(s):

Control Algorithms ◽

Model Parameters ◽

Delayed Systems ◽

Unknown Inputs

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An Updated Analytical Structural Pounding Force Model Based on Viscoelasticity of Materials

Shock and Vibration ◽

10.1155/2016/2596923 ◽

2016 ◽

Vol 2016 ◽

pp. 1-15 ◽

Cited By ~ 3

Author(s):

Qichao Xue ◽

Chunwei Zhang ◽

Jian He ◽

Guangping Zou ◽

Jingcai Zhang

Keyword(s):

Vibration Control ◽

Viscoelastic Model ◽

Control Process ◽

Model Performance ◽

Analytical Models ◽

Model Parameters ◽

Force Model ◽

Control Analysis ◽

Proposed Model ◽

Force Calculation

Based on the summary of existing pounding force analytical models, an updated pounding force analysis method is proposed by introducing viscoelastic constitutive model and contact mechanics method. Traditional Kelvin viscoelastic pounding force model can be expanded to 3-parameter linear viscoelastic model by separating classic pounding model parameters into geometry parameters and viscoelastic material parameters. Two existing pounding examples, the poundings of steel-to-steel and concrete-to-concrete, are recalculated by utilizing the proposed method. Afterwards, the calculation results are compared with other pounding force models. The results show certain accuracy in proposed model. The relative normalized errors of steel-to-steel and concrete-to-concrete experiments are 19.8% and 12.5%, respectively. Furthermore, a steel-to-polymer pounding example is calculated, and the application of the proposed method in vibration control analysis for pounding tuned mass damper (TMD) is simulated consequently. However, due to insufficient experiment details, the proposed model can only give a rough trend for both single pounding process and vibration control process. Regardless of the cheerful prospect, the study in this paper is only the first step of pounding force calculation. It still needs a more careful assessment of the model performance, especially in the presence of inelastic response.

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