scholarly journals A Three-Dimensional Integrated Non-Linear Coordinate Control Framework for Combined Yaw- and Roll-Stability Control during Tyre Blow-Out

Sensors ◽  
2021 ◽  
Vol 21 (24) ◽  
pp. 8328
Author(s):  
Boyuan Li ◽  
Chao Huang ◽  
Yang Wu ◽  
Bangji Zhang ◽  
Haiping Du
Keyword(s):  
Vehicle Dynamics ◽  
Degrees Of Freedom ◽  
Integrated Control ◽  
Three Dimensional ◽  
Stability Control ◽  
Control Mode ◽  
Level Control ◽  
Dynamics Model ◽  
Control Framework ◽  
Upper Level

A tyre blow-out can greatly affect vehicle stability and cause serious accidents. In the literature, however, studies on comprehensive three-dimensional vehicle dynamics modelling and stability control strategies in the event of a sudden tyre blow-out are seriously lacking. In this study, a comprehensive 14 degrees-of-freedom (DOF) vehicle dynamics model is first proposed to describe the vehicle yaw-plane and roll-plane dynamics performance after a tyre blow-out. Then, based on the proposed 14 DOF dynamics model, an integrated control framework for a combined yaw plane and roll-plane stability control is presented. This integrated control framework consists of a vehicle state predictor, an upper-level control mode supervisor and a lower-level 14 DOF model predictive controller (MPC). The state predictor is designed to predict the vehicle’s future states, and the upper-level control mode supervisor can use these future states to determine a suitable control mode. After that, based on the selected control mode, the lower-level MPC can control the individual driving actuator to achieve the combined yaw plane and roll plane control. Finally, a series of simulation tests are conducted to verify the effectiveness of the proposed control strategy.

scholarly journals Design and implementation of a multi-degrees-of-freedom cable-driven parallel robot with gripper

2018 ◽  
Vol 15 (5) ◽  
pp. 172988141880384 ◽  
Author(s):  
Jonqlan Lin ◽  
Chi Ying Wu ◽  
Julian Chang
Keyword(s):  
Degrees Of Freedom ◽  
Load Capacity ◽  
Kinematic Model ◽  
Weight Ratio ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Control Mode ◽  
Level Control ◽  
End Effector ◽  
Upper Level

Cable-driven parallel robots comprise driven actuators that allow controlled cables to act in parallel on an end-effector. Such a robotic system has a potentially large reachable workspace, large load capacity, high payload-to-weight ratio, high reconfigurability, and low inertia, relative to rigid link serial and parallel robots. In this work, a multi-degrees-of-freedom cable-suspended robot that can carry out pick-and-place tasks in large workspaces with heavy loads is designed. The proposed cable-driven parallel robot is composed of a rigid frame and an end-effector that is suspended from eight cables—four upper cables and four lower cables. The lengths of the cables are computed from the given positions of the suspended end-effector using a kinematic model. However, most multi-cable-driven robots suffer from interference among the cables, requiring a complex control methodology to find a target goal. Owing to this issue with cable-driven parallel robots, the whole control structure decomposes positioning control missions and allocates them into upper level and lower level. The upper level control is responsible for tracking the suspended end-effector to the target region. The lower level control makes fine positional modifications. Experimental results reveal that the hybrid control mode notably improves positioning performance. The wide variety of issues that are considered in this work apply to aerostats, towing cranes, locomotion interfaces, and large-scale manufacturing that require cable-driven parallel robots.

Vehicle Dynamics Modeling Based on Vortex

2014 ◽  
Vol 624 ◽  
pp. 289-292
Author(s):  
Ting Jin ◽  
Yun Qiu Gong ◽  
Chun Yu Wei
Keyword(s):  
Vehicle Dynamics ◽  
Degrees Of Freedom ◽  
Ride Comfort ◽  
Dynamics Modeling ◽  
Dynamics Model ◽  
Six Degrees Of Freedom ◽  
Calculation Results ◽  
Vehicle Motion ◽  
Vehicle Suspension System ◽  
Vehicle Dynamics Modeling

The six degrees of freedom platform in vehicle driving simiulator simulates vehicle motion based on the calculation results of the dynamics model, so good dynamics model is the basis and prerequisite of simulator’s good performance. This paper describes the process of applying the Vortex software to establish vehicle dynamics model and focuses on the problem of damping matching in the vehicle suspension system based on the ride comfort and stability.

Development of an Intermediate Degree of Freedom Vehicle Dynamics Model for Optimal Design Studies

2000 ◽  
Author(s):  
Erik M. Lowndes ◽  
J. W. David
Keyword(s):  
Optimal Design ◽  
Vehicle Dynamics ◽  
Control Algorithm ◽  
Three Dimensional ◽  
Dynamics Model ◽  
Design Studies ◽  
Vehicle Simulation ◽  
Race Car ◽  
Sufficient Detail ◽  
Intermediate Degree

Abstract Today’s race teams spend a significant amount of time and money performing on-track testing of their vehicles in order to determine the best possible suspension configuration for a particular racing venue. The use of computer simulation coupled with optimal design techniques presents the opportunity to significantly reduce the amount of on-track testing required. Many of the existing vehicle simulation codes are not suitable for application to the optimal design problem, either because they incorporate too much detail and run too slowly, or because they lack sufficient detail. A new model that bridges the gap between these two existing classes of models and is suitable for performing optimal design has been developed. The vehicle model is fully three dimensional and nonlinear. A driver control algorithm was developed that is capable of driving the car near it’s handling limits. An attempt was made to optimize the suspension setup for the NCSU Legends race car.

Technology Research Vehicle Braking Stability Control

2014 ◽  
Vol 602-605 ◽  
pp. 1219-1222
Author(s):  
Ya Rong Liu
Keyword(s):  
Vehicle Dynamics ◽  
Fuzzy Controller ◽  
Control Variable ◽  
Stability Control ◽  
Technology Research ◽  
Dynamics Model ◽  
Sideslip Angle ◽  
Yaw Rate ◽  
The Stability ◽  
And Control

In this paper, the stability of the car when braking, the establishment of a complete vehicle dynamics model to analyze the main causes and influencing factors of automobile brake instability. Select the vehicle yaw rate and sideslip angle as the control variable, meaning the use of certain applications of fuzzy control theory, the ESP fuzzy controller, and control strategy simulation with.

Dynamics and Control of a Novel Active Yaw Stabilizer to Enhance Vehicle Lateral Motion Stability

2018 ◽  
Vol 140 (8) ◽  
Author(s):  
Fengchen Wang ◽  
Yan Chen
Keyword(s):  
Degrees Of Freedom ◽  
Hierarchical Control ◽  
Lateral Force ◽  
Stability Control ◽  
Level Control ◽  
Road Friction ◽  
Dynamics And Control ◽  
High Level ◽  
And Control ◽  
Yaw Moment

In this paper, a novel active yaw stabilizer (AYS) system is proposed for improving vehicle lateral stability control. The introduced AYS, inspired by the recent in-wheel motor (IWM) technology, has two degrees-of-freedom with independent self-rotating and orbiting movements. The dynamic model of the AYS is first developed. The capability of the AYS is then investigated to show its maximum generation of corrective lateral forces and yaw moments, given a limited vehicle space. Utilizing the high-level Lyapunov-based control design and the low-level control allocation design, a hierarchical control architecture is established to integrate the AYS control with active front steering (AFS) and direct yaw moment control (DYC). To demonstrate the advantages of the AYS, generating corrective lateral force and yaw moment without relying on tire–road interaction, double lane change maneuvers are studied on road with various tire–road friction coefficients. Co-simulation results, integrating CarSim® and MATLAB/Simulink®, successfully verify that the vehicle with the assistance of the AYS system has better lateral dynamics stabilizing performance, compared with cases in which only AFS or DYC is applied.

A non-linear vehicle dynamics model for accurate representation of suspension kinematics

2014 ◽  
Vol 229 (6) ◽  
pp. 1002-1014 ◽  
Author(s):  
Prashanth KR Vaddi ◽  
Cheruvu S Kumar
Keyword(s):  
Vehicle Dynamics ◽  
Degrees Of Freedom ◽  
Normal Force ◽  
Dynamics Model ◽  
Vehicle Model ◽  
Handling Performance ◽  
Suspension Spring ◽  
Full Vehicle ◽  
Non Linear ◽  
Dynamics Models

A non-linear full vehicle model for simulation of vehicle ride and handling performance is proposed. The model effectively estimates the suspension spring compressions, thus improving the accuracy of normal force calculations. This is achieved by developing models for suspension kinematics, which are then integrated with the commonly used 14 degrees of freedom vehicle dynamics models. This integrated model effectively estimates parameters like camber angles, toe angles and jacking forces, which are capable of significantly affecting the handling performance of the vehicle. The improvements in the accuracy of spring compressions help in simulating the effects of non-linear suspension elements, and the accuracy of handling simulation is enhanced by the improvements in normal force estimates. The model developed in Simulink is validated by comparing the results to that from ADAMS car.

Vehicle Steering Stability Simulation Based on G-Vectoring Control

2014 ◽  
Vol 898 ◽  
pp. 914-918
Author(s):  
Yun Yin Zhang ◽  
Chun Guang Liu ◽  
Zi Li Liao
Keyword(s):  
Vehicle Dynamics ◽  
Driving Force ◽  
Control Method ◽  
Stability Control ◽  
Lateral Acceleration ◽  
System Control ◽  
Dynamics Model ◽  
Sideslip Angle ◽  
Vehicle System ◽  
Simulation Based

A new kind of control method named "G-Vectoring control" is used in vehicle steering stability control, which uses the lateral acceleration to control the longitudinal acceleration, and improves the steering stability by redistributing the driving force. The motor and its control system as well as the vehicle system control are modeled by Matlab, the vehicle dynamics model is designed by adams. After the co-simulation of snakelike tests, the results shows that the sideslip angle is well controlled by G-Vectoring control.

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