scholarly journals Analytical Study on the Cornering Behavior of an Articulated Tracked Vehicle

Machines ◽  
2021 ◽  
Vol 9 (2) ◽  
pp. 38
Author(s):  
Antonio Tota ◽  
Enrico Galvagno ◽  
Mauro Velardocchia
Keyword(s):  
Mathematical Model ◽  
Degrees Of Freedom ◽  
Analytical Study ◽  
Proportional Integral Derivative ◽  
Vehicle Model ◽  
Tracked Vehicle ◽  
Tracked Vehicles ◽  
Side Slope ◽  
Skid Steering ◽  
And Control

Articulated tracked vehicles have been traditionally studied and appreciated for the extreme maneuverability and mobility flexibility in terms of grade and side slope capabilities. The articulation joint represents an attractive and advantageous solution, if compared to the traditional skid steering operation, by avoiding any trust adjustment between the outside and inside tracks. This paper focuses on the analysis and control of an articulated tracked vehicle characterized by two units connected through a mechanical multiaxial joint that is hydraulically actuated to allow the articulated steering operation. A realistic eight degrees of freedom mathematical model is introduced to include the main nonlinearities involved in the articulated steering behavior. A linearized vehicle model is further proposed to analytically characterize the cornering steady-state and transient behaviors for small lateral accelerations. Finally, a hitch angle controller is designed by proposing a torque-based and a speed-based Proportional Integral Derivative (PID) logics. The controller is also verified by simulating maneuvers typically adopted for handling analysis.

Improved Positioning of Pneumatic Cylinder by Using Flexible Coupling between the Piston and Rod

1992 ◽  
Vol 206 (6) ◽  
pp. 431-435 ◽  
Author(s):  
G V Krejnin ◽  
I L Krivz ◽  
L A Smelov
Keyword(s):  
Mathematical Model ◽  
Computer Simulation ◽  
Parameter Optimization ◽  
Degrees Of Freedom ◽  
Control Parameter ◽  
Pneumatic Cylinder ◽  
Output Link ◽  
Positioning Accuracy ◽  
Flexible Coupling ◽  
And Control

Positioning accuracy of a pneumatic piston drive with flexible coupling between the piston and rod is considered. Improved positioning was expected due to the fact that the rod friction is usually considerably less than the piston friction. When the piston stops under the action of its friction force the rod continues the motion, providing the precision positioning of the output link. A mathematical model of a positioning pneumatic piston drive with two degrees of freedom was generated. Computer simulation of the performance of short and long strokes showed the feasibility of the improved positioning which provided design and control parameter optimization.

Terrain-Adaptive Auxiliary Track Tensioning System for Tracked Vehicles

2013 ◽  
Vol 8 (3) ◽  
Author(s):  
Jaroslav Matej
Keyword(s):  
Genetic Algorithm ◽  
Multibody Dynamics ◽  
Dynamics Simulation ◽  
Optimal Parameters ◽  
Vehicle Model ◽  
Tracked Vehicle ◽  
Tracked Vehicles ◽  
The Road ◽  
Java Language ◽  
Genetic Algorithm Method

It is known that tension in the track of a tracked vehicle has a large effect on its driving properties. Simple track tensioning solutions, like track adjusting link assembly, use a one-road wheel motion to govern the motion of a track tensioning element. Thus the track tensioning force is a function of a terrain micro-profile. A logical improvement of this approach is to use all of the road wheels to govern the motion of the track tensioning element. This can be achieved by an auxiliary track tensioning system. This paper analyzes the conceptual track tensioning system governed by a terrain micro-profile. The motion of the track tensioning element is designed as a function of all of the road wheels' motions. A genetic algorithm method, implemented in Java language, is used to find the optimal parameters of the tensioning system and the results are verified via multibody dynamics simulation using the MSC.ADAMS/View system. The paper answers the question of whether the use of all of the road wheels' motions to govern the motion of the track tensioning element can be useful or not. The results indicate that the use of the auxiliary system can decrease the variance of the track tensioning force, in comparison with the track tensioning system without auxiliary tensioning. This means that the value of the track tensioning force is closer to its desired, predefined, and constant value during the whole simulation. The tracked vehicle model that is used is a simplified one and it is intended as a base for specific designs of track tensioning systems with auxiliary tensioning. The results suggest that the system can be used to improve the driving properties of tracked vehicles or robots.

scholarly journals Investigation of the components of the cornering resistance of a tracked vehicle on a solid support base

2021 ◽  
Vol 1 (2) ◽  
pp. 51-62
Author(s):  
B.V. Padalkin ◽  
Keyword(s):  
Mathematical Model ◽  
Reaction Force ◽  
Vertical Axis ◽  
Support Surface ◽  
Tracked Vehicle ◽  
Tracked Vehicles ◽  
Contact Patch ◽  
Minimum Number ◽  
The Moment ◽  
Propulsion Unit

The purpose of the study is to increase the completeness and reliability of approaches to deter-mining the components of the cornering resistance a tracked vehicle, as well as to create a method for their assessment, which will be suitable for practical calculations. The article analyzes two components of the moment of cornering resistance of the tracked vehi-cle, which can be distinguished if we consider the interaction of the caterpillar with the support base through separate contact spots (active sections of the tracks located under the road wheels). The first component arises from the linear movement of the active sections of the tracks. The second is caused by the rotational movement of the contact patch about the vertical axis. The paper presents a mathematical model of the interaction of the propeller and a dense support base, which makes it possible to study the dependence of the components of the moment of corner-ing resistance on the geometric parameters of the undercarriage of a tracked vehicle. The horizontal reaction force in this case is presented as a function of the slip coefficient. The possibility of realiz-ing various adhesion qualities of the propulsion unit in the longitudinal and transverse directions of sliding is provided. The model assumes a preliminary division of the contact patch into a finite number of elementary areas. Since the number of elementary sites affects the result, the article con-ducted a study to determine the minimum number of sites to ensure acceptable accuracy. An analysis of the expressions available in the literature was carried out to determine the speci-fied component of the cornering resistance. The new empirical relationships that better agree with the mathematical model were proposed. The study of several existing tracked vehicles, differing in the mass and size of the track support surface, made it possible to conclude that it is advisable to take into account the moment of cornering resistance of the contact patch for various types of tracked vehicles.

Simulation of 2S1 Tracked Vehicle Model with Modernized Suspension System during Crossing a Single Obstacle

2013 ◽  
Vol 208 ◽  
pp. 140-147
Author(s):  
Tomasz Nabagło ◽  
Andrzej Jurkiewicz ◽  
Marcin Apostoł ◽  
Piotr Micek
Keyword(s):  
Suspension System ◽  
Human Response ◽  
Vehicle Model ◽  
Tracked Vehicle ◽  
Tracked Vehicles ◽  
Alternative Models ◽  
Torsion Spring ◽  
Spring Element ◽  
Straight Line ◽  
Improve Stability

In the article, three alternative models of 2S1 platform suspension system are presented. First model is based on existing construction of 2S1 platform suspension. Two next were modernized by usage of new solutions in tracked vehicles suspension technology. The solutions are especially associated with torsion spring element and idler mechanism. The authors have assumed simulation conditions for straight line driving of the vehicle models, while they overcome a single obstacle with one track. Results of all models simulations are compared and analyzed to improve stability of the vehicle while driving. There are also used a human response filter to determine less harmful driving conditions for vehicle crew.

Stabilization and Control of an Autonomous Quadcopter

2014 ◽  
Vol 666 ◽  
pp. 161-165
Author(s):  
Yashaan Nari Cooper ◽  
R.K. Ganesh Ram ◽  
V. Kalaichelvi ◽  
Vishank Bhatia
Keyword(s):  
Degrees Of Freedom ◽  
Brushless Dc Motor ◽  
Peak Time ◽  
Simulation Studies ◽  
Proportional Integral Derivative ◽  
Motor Speed ◽  
Proportional Integral Derivative Controller ◽  
Brushless Dc ◽  
Design And Implementation ◽  
And Control

A Quadcopter is a helicopter which has four equally spaced rotors, usually arranged at the corners of a square body. Due to four independent rotors, the need for a swashplate mechanism is palliated. The swashplate mechanism was required to allow the helicopter to utilize more degrees of freedom, but the same level of control could be obtained by adding two more rotors. The development of Quadcopter was stalled until very recently, because controlling four independent rotors was proven to be incredibly difficult and impossible without electronic assistance which has made even completely autonomous control of quadcopters feasible for commercial, military, and even hobbyist purposes. The paper offers dynamic simulation of brushless DC motor speed control used in a quadcopter and also focuses on design and implementation of PID (Proportional-Integral-Derivative) controller through simulation for proper controlling of altitude roll and pitch in a quadcopter. The effectiveness of proposed controller can be analyzed by considering the performances of peak time, settling time and overshoots for various set point changes in the throttle movements. All simulation studies have been carried out using the MATLAB software.

Optimal Design of Single-Mode Power-Split Hybrid Tracked Vehicles

2018 ◽  
Vol 140 (10) ◽  
Author(s):  
Zhaobo Qin ◽  
Yugong Luo ◽  
Keqiang Li ◽  
Huei Peng
Keyword(s):  
Optimal Design ◽  
Degrees Of Freedom ◽  
Single Mode ◽  
Topology Design ◽  
Hybrid Powertrain ◽  
Tracked Vehicles ◽  
Power Split ◽  
Skid Steering ◽  
Design Selection ◽  
Low Efficiency

Hybrid tracked vehicles are common in construction, agriculture, and military applications. Most use a series hybrid powertrain with large motors and operate at a relatively low efficiency. Although some researchers have proposed power-split powertrains, most of these would require an additional mechanism to achieve skid steering. To solve this problem and enhance drivability, a single-mode power-split hybrid powertrain for tracked vehicles with two outputs connected to the left and right tracks is proposed. The powertrain with three planetary gears (PGs) would then be able to control the torque on the two tracks independently and achieve skid steering. This powertrain has three degrees-of-freedom (DOF), allowing for control of the output torques and the engine speed independently from the vehicle running speed. All design candidates with three PGs are exhaustively searched by analyzing the dynamic characteristics and control to obtain the optimal design. Efficient topology design selection with parameter sizing and component sizing is accomplished using the enhanced progressive iteration approach to achieve better fuel economy using downsized components.

Modeling of an Electrostatic Micromotor Based on a Levitated Rotor

2007 ◽  
Author(s):  
Xi Chen ◽  
Fengtian Han ◽  
Yunfeng Liu
Keyword(s):  
Mathematical Model ◽  
Rotational Speed ◽  
Degrees Of Freedom ◽  
Nonlinear Models ◽  
Electrostatic Force ◽  
Element Model ◽  
Micro Electro Mechanical Systems ◽  
Position Sensing ◽  
And Control ◽  
The Mathematical Model

This paper presents a mathematical model developed for an electrostatically levitated micromotor in which the ring-shaped rotor is levitated by electrostatic force in five degrees of freedom (DOFs). A glass/silicon/glass sandwich structure is utilized in this electrostatic micromotor, which is based on the technology of micro-electro-mechanical systems (MEMS). In the center of ring-shaped cavity formed by ICP between the top and bottom glass plates, the rotor is levitated by the five DOFs position servo system and driven by speed control system. In this paper, the mathematical model for the motion control of the rotor in five DOFs is developed. This model describes the capacitances and electrostatic forces between the rotor and associated electrodes, and moments of two rotations about the x, y-axis. The rotational torque model governing the rotor’s rotational speed is also described. In order to obtain the analytical nonlinear models for error analysis, these integral equations are expanded using the Taylor’s series. Moreover the finite element model and its simulation results are obtained by using ANSYS. In terms of comparison between the simulated results and the nonlinear models, the modeling accuracy of the micromotor can be evaluated. Furthermore, the error characteristics of the linearized models via rotor displacement are analyzed. Thus, position sensing and control of both the rotor’s motion, and the rotational speed, can be achieved based on these linearized models of electrostatically levitated micromotors.

scholarly journals Motion Control of a 4WS4WD Path-Following Vehicle: Dynamics-Based Steering and Driving Models

2021 ◽  
Vol 2021 ◽  
pp. 1-13
Author(s):  
Zhonghua Zhang ◽  
Caijin Yang ◽  
Weihua Zhang ◽  
Yanhai Xu ◽  
Yiqiang Peng ◽  
...  
Keyword(s):  
Dynamic Model ◽  
Motion Control ◽  
Degrees Of Freedom ◽  
Path Following ◽  
Coordinate Space ◽  
Vehicle Model ◽  
Control Models ◽  
Path Following Control ◽  
Vehicle Path ◽  
And Control

This paper deals with a four-wheel-steering four-wheel-driving (4WS4WD) vehicle under the path-following control. Focuses are placed on the motion control of the vehicle, and the drive forces and steering angles for achieving accurate path-following by the vehicle are determined. In this research, a nonlinear vehicle model of three degrees of freedom (DOFs) is used. The vehicle path-following dynamics are modeled using the classical mass-damper-spring vibration theory, which is described by three ordinary differential equations of second order with lateral, heading and velocity deviations, and control parameters. Combined with the vehicle path-following dynamic model, the nonlinear vehicle dynamic model is decoupled in generalized coordinate space. The required drive forces and steering angles for the vehicle path-following controllers are thus calculated and control models are obtained. Theoretical analysis for steering and driving control models is also carried out. It discloses that control models can maintain good performance against uncertainties. The vehicle path-following control is exhibited by dynamic simulation in CarSim with consideration of a complex vehicle model and a variable-curvature planned path. Numerical results obtained are analyzed and show control models have capable of dealing with a complex path-following problem. This paper provides a new insight into understanding path-following control of a 4WS4WD vehicle at the generalized vibration level.

Simulation of the Stewart Platform Carried out Using the Siemens NX and NI LabVIEW Programs

2013 ◽  
Vol 837 ◽  
pp. 537-542 ◽  
Author(s):  
Wacław Banaś ◽  
Krzysztof Herbuś ◽  
Gabriel Kost ◽  
Andrzej Nierychlok ◽  
Piotr Ociepka ◽  
...  
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Degrees Of Freedom ◽  
Stewart Platform ◽  
Virtual Model ◽  
Mobility Limitations ◽  
Mobility Impairments ◽  
Labview Software ◽  
And Control ◽  
Cae System

The paper presents the implementations of the control algorithm of a virtual system (Stewart platform) in the CAD/CAE system (Siemens NX) and in the NI LabVIEW supervisory and control system. The combination of both systems enables the virtual simulation and presentation of the results in relation to the chosen in the work virtual model of the Stewart platform. The virtual model of the Stewart platform with the imposed constraints and mobility limitations was built in the Siemens NX CAD/CAE system. Each of the modeled elements is based on the real components of the car simulator prepared for the persons with mobility impairments. The chosen model of a Stewart platform is a system with six degrees of freedom that is often used to build various types of simulators (e.g. flight, car). Using the NI LabVIEW software, a mathematical model of the Stewart platform was built and inverse kinematics task was implemented in relation to the model of the platform. The created mathematical model that describes the behavior of the Stewart platform was used to determine the inputs to the control system of platform actuators.

3 DOF Lumped Mass Tracked Vehicle Model

2015 ◽  
Vol 799-800 ◽  
pp. 803-807
Author(s):  
Mehmet Nuri Özdemir ◽  
Varlık Kılıç
Keyword(s):  
Degrees Of Freedom ◽  
Equivalent Stiffness ◽  
Vehicle Model ◽  
Lumped Mass ◽  
Tracked Vehicle ◽  
Matlab Simulink ◽  
System Parameters ◽  
Equivalent Damping ◽  
Equivalent Mass

A 3 DOF lumped mass tracked vehicle model was constructed in Matlab Simulink Environment and used for positioning the vehicle on gradients and missile firing operations. Pitch center, roll center and system parameters such as equivalent stiffness values, equivalent damping values and equivalent mass/inertias of 3 DOF model were obtained from 32+ degrees of freedom tracked vehicle model by simulations. Moments in pitch and roll directions were applied to the vehicle to find the pitch and roll centers. A range of step forces in bounce direction and a range of step moments in pitch and roll directions were applied to the vehicle and responses in the related directions of 32+ degrees of freedom model were used to determine the system parameters of 3-DOF model. Finally attitude of the vehicle on the gradients and missile firing scenario were simulated with both models and the results showed that 3 DOF model reasonably predicts the behavior of the tracked vehicle.

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