An intelligent multiple-articulated rubber-tired vehicle based on automatic steering and trajectory following method

2021 ◽  
pp. 107754632199918
Author(s):  
Lei Xiao ◽  
Ke Wang ◽  
Sheng Zhou ◽  
Sai Ma
Keyword(s):  
Computational Cost ◽  
Steering System ◽  
Visual Navigation ◽  
Dynamic Simulations ◽  
Automatic Steering ◽  
Trajectory Following ◽  
Design Speed ◽  
Prediction Control ◽  
Multi Body ◽  
Body Dynamic

For manually driven rubber trams to track, virtual tracks can easily cause driver fatigue. Therefore, based on visual navigation, an automatic steering and trajectory following method are proposed. First, the vehicle kinematic and dynamic model of the Delight Tram is proposed. Then, the automatic steering and trajectory following methods are introduced, which are based on model prediction control and Ackermann steering theory, respectively. Finally, the effectiveness of the proposed methods has been evaluated via both multi-body dynamic simulations and road tests under various working conditions. The results show that the vehicle has excellent steering and trajectory following ability whether in a transient phase or a steady-state circumference. Furthermore, the steering system can stabilize the vehicle in the whole range of design speed, with a smaller computational cost.

A mechanical integral steering system for increasing the stability and handling of motor vehicles

2015 ◽  
Vol 231 (8) ◽  
pp. 1465-1480 ◽  
Author(s):  
Cătălin Alexandru
Keyword(s):  
Modeling And Simulation ◽  
Steering System ◽  
Motor Vehicles ◽  
Steering Wheel ◽  
Dynamic Simulations ◽  
Translational Movement ◽  
Steering Law ◽  
The Stability ◽  
Input Motion ◽  
Multi Body

The article deals with the design, modeling, and simulation of an innovative four-wheel steering system for motor vehicles. The study is focused on the steering box of the rear wheels, which is a cam-based mechanism, while the front steering system uses a classical pinion—rack gearbox. In the proposed concept, the four-wheel steering aims to improve the vehicle stability and handling performances by considering the integral steering law, which is formulated in terms of correlation between the steering angles of the front and rear wheels. In this regard, a double-profiled cam is designed, in correlation with the input motion law applied to the steering wheel. The cam profile dictates (prescribes) the translational movement of the rear follower, which is connected to the left and right steering tierods, turning—as appropriate—the rear wheels in the same direction (for stability) or in opposite (for handling) to the front wheels. The cam-based mechanism is able to carry out complex motion laws, providing accurate integral steering law. The dynamic modeling and simulation of the four-wheel steering vehicle was performed by using the Multi-Body Systems package Automatic Dynamic Analysis of Mechanical Systems of MSC.Software, the full-vehicle model containing also the front and rear wheels suspension systems, as well the vehicle chassis (car body). The dynamic simulations in virtual environment have resulted in important results that demonstrate the handling and stability performances of the proposed four-wheel steering system by reference to a classical two-wheel steering vehicle.

Advanced Automatic Steering Systems for Multiple Articulated Road Vehicles

2013 ◽  
Author(s):  
Sebastian Wagner ◽  
Gunter Nitzsche ◽  
Robert Huber
Keyword(s):  
Mechanical Stress ◽  
Kinematic Model ◽  
Steering System ◽  
Guidance System ◽  
Electronic Control ◽  
Road Vehicles ◽  
Control Units ◽  
Steer By Wire ◽  
Automatic Steering ◽  
Multi Body

This article describes a novel automatic steering system for a 30.73m long double articulated bus equipped with three independent steer-by-wire axles. Two model-based control design approaches are proposed. The first approach uses a kinetic vehicle model to design a train-like guidance system and a force-canceling that avoids excessive mechanical stress in the joints and the chassis. While the first approach requires high computational efforts, the second approach utilizes a kinematic model to design an extended Ackermann-steering system that performs well on available electronic control units (ECU). Multi-body-system (MBS) simulations show that both approaches offer high tracking performance and low mechanical stress in the chassis of the vehicle. Furthermore, road tests with the prototype AutoTram® Extra Grand confirm the simulation results.

Research on Vehicle Ride Comfort Based on Virtual Prototyping Technology

2011 ◽  
Vol 291-294 ◽  
pp. 2360-2363
Author(s):  
De Yang Chen ◽  
Feng Yan Yi
Keyword(s):  
High Performance ◽  
Ride Comfort ◽  
Simulation Analysis ◽  
Steering System ◽  
Front Suspension ◽  
The Road ◽  
Virtual Prototyping Technology ◽  
System Body ◽  
Multi Body ◽  
Body Dynamic

In this paper, based on some kind of Car as the prototype, by using the multi-body dynamic analysis software ADAMS, the author Uses ADAMS／CAR modules establishes front Suspension, Rear Suspension, steering system brake system,body,tires and other models, then assembled into vehicle model, Established B,E-class road model as entering the road for vehicle ride comfort simulation analysis. Vehicle on different road ride comfort simulation, According to international standard ISO2631 and the vehicle for evaluation of ride comfort, the car are proved to be high performance in the ride comfort．

Design and Analysis of a Robotic Modular Leg Mechanism

2016 ◽  
Author(s):  
Wael Saab ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Body Height ◽  
Point Contact ◽  
Dynamic Simulations ◽  
Uneven Terrain ◽  
Quadruped Robots ◽  
System A ◽  
Passive Suspension System ◽  
And Performance ◽  
Multi Body ◽  
Body Dynamic

This paper presents the design and analysis of a reduced degree-of-freedom Robotic Modular Leg (RML) mechanism used to construct a quadruped robot. This mechanism enables the robot to perform forward and steering locomotion with fewer actuators than conventional quadruped robots. The RML is composed of a double four-bar mechanism that maintains foot orientation parallel to the base and decouples actuation for simplified control, reduced weight and lower cost of the overall robotic system. A passive suspension system in the foot enables a stable four-point contact support polygon on uneven terrain. Foot trajectories are generated and synchronized using a trot and modified creeping gait to maintain a constant robot body height, horizontal body orientation, and provide the ability to move forward and steer. The locomotion principle and performance of the mechanism are analyzed using multi-body dynamic simulations of a virtual quadruped and experimental results of an integrated RML prototype.

scholarly journals Design and Analysis of a Multi-Legged Robot with Pitch Adjustive Units

2021 ◽  
Vol 34 (1) ◽  
Author(s):  
Qiang Ruan ◽  
Jianxu Wu ◽  
Yan-an Yao
Keyword(s):  
Complex Terrain ◽  
Degrees Of Freedom ◽  
Virtual Model ◽  
Legged Robot ◽  
Dynamic Simulations ◽  
Compact Structure ◽  
Multi Body ◽  
6 Degrees Of Freedom ◽  
Body Dynamic ◽  
Pitch Adjustment

AbstractThe paper proposes a novel multi-legged robot with pitch adjustive units aiming at obstacle surmounting. With only 6 degrees of freedom, the robot with 16 mechanical legs walks steadily and surmounts the obstacles on the complex terrain. The leg unit with adjustive pitch provides a large workspace and empowers the legs to climb up obstacles in large sizes, which enhances the obstacle surmounting capability. The pitch adjustment in leg unit requires as few independent adjusting actuators as possible. Based on the kinematic analysis of the mechanical leg, the biped and quadruped leg units with adjustive pitch are analyzed and compared. The configuration of the robot is designed to obtain a compact structure and pragmatic performance. The uncertainty of the obstacle size and position in the surmounting process is taken into consideration and the parameters of the adjustments and the feasible strategies for obstacle surmounting are presented. Then the 3D virtual model and the robot prototype are built and the multi-body dynamic simulations and prototype experiments are carried out. The results from the simulations and the experiments show that the robot possesses good obstacle surmounting capabilities.

Continuous multi-body dynamic analysis of float-over deck installation with rapid load transfer technique in open waters

2021 ◽  
Vol 224 ◽  
pp. 108729
Author(s):  
Shujie Zhao ◽  
Xun Meng ◽  
Huajun Li ◽  
Dejiang Li ◽  
Qiang Fu
Keyword(s):  
Dynamic Analysis ◽  
Load Transfer ◽  
Multi Body ◽  
Body Dynamic

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

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.

scholarly journals Research on Coupled Dynamic Model of Tracked Vehicles and Its Solving Method

2015 ◽  
Vol 2015 ◽  
pp. 1-10
Author(s):  
Yuliang Li ◽  
Chong Tang
Keyword(s):  
Dynamic Performance ◽  
Tractive Force ◽  
Actual Structure ◽  
Discrete Method ◽  
Tracked Vehicles ◽  
Coupled Equations ◽  
Calculation Results ◽  
Dynamic Software ◽  
Multi Body ◽  
Body Dynamic

In order to conveniently analyze the dynamic performance of tracked vehicles, mathematic models are established based on the actual structure of vehicles and terrain mechanics when they are moving on the soft random terrain. A discrete method is adopted to solve the coupled equations to calculate the acceleration of the vehicle’s mass center and tractive force of driving sprocket. Computation results output by the model presented in this paper are compared with results given by the model, which has the same parameters, built in the multi-body dynamic software. It shows that the steady state calculation results are basically consistent, while the model presented in this paper is more convenient to be used in the optimization of structure parameters of tracked vehicles.

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