Methodology for determining losses in the transmission of two-axle wheeled vehicles

2020 ◽  
pp. 22-28
Author(s):  
D.H. Valeev ◽  
I.F. Gumerov ◽  
V.S. Karabtsev
Keyword(s):  
Resistance Force ◽  
Dimension Theory ◽  
Transmission Losses ◽  
Wheeled Vehicle ◽  
Motion Resistance ◽  
Left And Right ◽  
Gear Wheels ◽  
Wheeled Vehicles ◽  
Physical Quantities ◽  
Resistance Forces

Based on the analysis of studies on determination the resistance force in the transmission of a two-axle wheeled vehicle, it was established that the developed methods and the results obtained with their help are not entirely correct: the dimension of the left and right parts of the expressions is violated in the formulas of some researchers; when using the method for determining the driveout of a vehicle’s transmission, it is not taken into account that the driving and driven gear wheels of the main gear in this case do not interact in the same way as when they rotate in traction mode. To eliminate these shortcomings, a formula is proposed, obtained using the dimension theory for physical quantities, and an improved methodology for determining the indicated resistance force is developed. Keywords wheeled vehicle, transmission, losses, efficiency, fuel consumption, motion resistance forces, bench, chassis. [email protected]

PID and LQR Control for Two-Wheeled Vehicles with Hand Sensors

2014 ◽  
Vol 665 ◽  
pp. 619-622
Author(s):  
Dian Rong Li ◽  
Yih Guang Leu ◽  
Yan Hou Wen
Keyword(s):  
Inverted Pendulum ◽  
Pendulum System ◽  
Lqr Control ◽  
Inverted Pendulum System ◽  
Wheeled Vehicle ◽  
Control Signals ◽  
Left And Right ◽  
The Difference ◽  
Unstable Plant ◽  
Wheeled Vehicles

This paper studies the control of a two-wheeled vehicle which is similar to an inverted pendulum system and has hand sensors to make right and left turns. Because the two-wheeled vehicle is unstable and its load is uncertain, PID and LQR controllers are used to stabilize the uncertain and unstable plant. Moreover, the two controllers can make it move forwards and backwards, and turn left and right. The two controllers are implemented into a microcontroller, and the microcontroller outputs appropriate control signals to drive the two-wheeled vehicle according to the three-axis accelerometer and gyroscope sensors. Finally, we verify the controllers' efficiency and compare the difference between above two controllers.

scholarly journals Comparing the physical principles of action of suspension damping devices based on their influence on the mobility of wheeled vehicles

2021 ◽  
Vol 4 (5(112)) ◽  
pp. 51-60
Author(s):  
Vladislav Dushchenko ◽  
Serhii Vorontsov ◽  
Vyacheslav Masliyev ◽  
Oleg Agapov ◽  
Roman Nanivskyi ◽  
...  
Keyword(s):  
Hydraulic Shock ◽  
Relative Movement ◽  
Shock Absorbers ◽  
Energy Recuperation ◽  
Wheeled Vehicle ◽  
Working Bodies ◽  
Wheeled Vehicles ◽  
Resistance Forces ◽  
Physical Principles ◽  
Main Factor

This paper reports the comparison of two physical principles of action of suspension damping devices based on their influence on the mobility indicators for an 8×8 wheeled machine. A radical difference between these principles of action is the dependence of resistance forces on the speed of the relative movement of working bodies (internal friction: hydraulic shock absorbers) or on the relative movement of working bodies (external friction: friction shock absorbers). Widespread hydraulic shock absorbers have certain disadvantages that do not make it possible to further increase the mobility of wheeled or tracked vehicles without the use of control and recuperation systems. In turn, in friction shock absorbers, the use of new materials has eliminated many of their shortcomings and thus can provide significant advantages. It was established that the application of friction shock absorbers for a given wheeled vehicle did not significantly affect the speed compared to hydraulic ones. The main factor that prevented the implementation of the advantages of friction shock absorbers was the insufficient suspension travel. However, friction shock absorbers absorbed 1.76...2.3 times less power, which reduced the load on nodes and increased efficiency (autonomy). In addition, a more uniform load on suspensions was ensured, which improved their resource, and, due to the prevailing vertical oscillations of the suspended body over the longitudinal-angular ones, the geometric passability improved as well. The comparison of two physical principles of action of damper suspension devices in a wheeled vehicle has shown that the use of friction shock absorbers could provide significant advantages in resolving the task relates to improving the mobility and would fundamentally affect the choice of the suspension energy recuperation system if it is applied.

scholarly journals Estimation of resistance force at steady-state sinkage for cylindrical wheel-typed lunar/planetary exploration rovers with function of push–pull locomotion

2020 ◽  
Vol 7 (1) ◽  
Author(s):  
Daisuke Fujiwara ◽  
Naoki Tsujikawa ◽  
Tetsuya Oshima ◽  
Kojiro Iizuka
Keyword(s):  
Steady State ◽  
Estimation Method ◽  
Planetary Exploration ◽  
Experimental Result ◽  
Resistance Force ◽  
Estimation Model ◽  
Loose Soil ◽  
Key Factor ◽  
The Relationship ◽  
Resistance Forces

Abstract Planetary exploration rovers have required a high traveling performance to overcome obstacles such as loose soil and rocks. Push-pull locomotion rovers is a unique scheme, like an inchworm, and it has high traveling performance on loose soil. Push-pull locomotion uses the resistance force by keeping a locked-wheel related to the ground, whereas the conventional rotational traveling uses the shear force from loose soil. The locked-wheel is a key factor for traveling in the push-pull scheme. Understanding the sinking behavior and its resistance force is useful information for estimating the rover’s performance. Previous studies have reported the soil motion under the locked-wheel, the traction, and the traveling behavior of the rover. These studies were, however, limited to the investigation of the resistance force and amount of sinkage for the particular condition depending on the rover. Additionally, the locked-wheel sinks into the soil until it obtains the required force for supporting the other wheels’ motion. How the amount of sinkage and resistance forces are generated at different wheel sizes and mass of an individual wheel has remained unclear, and its estimation method hasn’t existed. This study, therefore, addresses the relationship between the sinkage and its resistance force, and we analyze and consider this relationship via the towing experiment and theoretical consideration. The results revealed that the sinkage reached a steady-state value and depended on the contact area and mass of each wheel, and the maximum resistance force also depends on this sinkage. Additionally, the estimation model did not capture the same trend as the experimental results when the wheel width changed, whereas, the model captured a relatively the same trend as the experimental result when the wheel mass and diameter changed.

Effectiveness of the running system of a wheeled vehicle

2020 ◽  
pp. 16-22
Author(s):  
D.A. Dubovik
Keyword(s):  
Steering Wheel ◽  
Steering Control ◽  
Control Effectiveness ◽  
Power Drive ◽  
Running System ◽  
Wheeled Vehicle ◽  
Curvilinear Motion ◽  
Wheeled Vehicles ◽  
System Power ◽  
Effectiveness Coefficient

A method for quantitative assessment of the effectiveness of the running system of wheeled vehicles for the general case of curvilinear motion is proposed. An expression is obtained for calculating the coefficient of efficiency of the running system of a wheeled vehicle, taking into account the parameters of the power and steering wheel drives. The results of evaluating the effectiveness of the running system of an off-road vehicle with a wheel arrangement of 8Ѕ8 and two front steerable axles are presented. Keywords: wheeled vehicle, running system, power drive, drive wheels, steering control, effectiveness, coefficient of efficiency. [email protected]

scholarly journals Analytical and Experimental Analysis of a Free Link in Contact with a Granular Medium

2013 ◽  
Vol 2013 ◽  
pp. 1-9 ◽  
Author(s):  
Dan B. Marghitu ◽  
Seung Lee
Keyword(s):  
Granular Medium ◽  
Stopping Time ◽  
The Body ◽  
Resistance Force ◽  
Time Interval ◽  
The Moment ◽  
Static Resistance ◽  
The Impact ◽  
Resistance Forces ◽  
Empirical Approaches

In this study, the experimental and the simulation results for a planar free link impacting a granular medium are analyzed. The resistance force of the granular medium on the body from the moment of the impact until the body stops is very important. Horizontal and vertical static resistance forces developed by theoretical and empirical approaches are considered. The penetrating depth of the impacting end of the free link increases with the increase of the initial impacting velocity. We define the stopping time as the time interval from the moment of impact until the vertical velocity of the link end is zero. The stopping time of the end decreases as the initial velocity increases. The faster the end of the link impacts the surface of the granular medium, the sooner it will come to a stop. This phenomenon involves how rapidly a free link strikes the granular medium and how it slows down upon contact.

Novel Type of Biaxial Wheel-Type Haptic Input Device With MR-Brakes to Control Hydraulic Multi-Axis Manipulators

2017 ◽  
Author(s):  
Adam Myszkowski ◽  
Tomasz Bartkowiak ◽  
Roman Staniek
Keyword(s):  
High Speed ◽  
Angular Displacement ◽  
Rapid Change ◽  
Initial Study ◽  
Resistance Force ◽  
Input Device ◽  
Motion Direction ◽  
University Of Technology ◽  
Motion Resistance ◽  
Haptic Input

In the paper, authors present a design of a novel input device, in which, thanks to two ergonomically placed wheels, the operator can control the multi-axis manipulator with a single hand. The application of rotating elements provides the following benefits: achieving unlimited angular displacement, controlling numerous number of axes thanks to the certain combination of wheels motions, assigning force and position amplification individually, what helps to obtain both high speed and precision. In order to generate feedback force in the joystick, dedicated MR brakes were designed and built. The proposed feedback approach is an example of admittance control [1]. The joystick was built and tested at the Institute of Mechanical Technology of Poznan University of Technology. In the article, a theoretical model of the brake was shown together with analysis and discussion of its parameters. Additionally, it was supplemented with the results of theoretical and simulative studies. The paper also contains the outcome of the initial study focused on the analysis of the functionality, ergonomics and possibility of two-, three- and four axis control. It showed that the control algorithms played an essential role in motion control. They allow a rapid change of the generated resistance force during the change of motion direction. The obtained results validated the assumed design of the joystick with rotary elements and applied MR brakes due to the possibility of precisely control the motion resistance.

scholarly journals Design of a Human-Powered Roll Stabilization Attachment for Utilitarian Two-Wheeled Vehicles

2019 ◽  
Author(s):  
Guillermo F. Diaz Lankenau ◽  
Lea Daigle ◽  
Samuel H. Ihns ◽  
Eric Koch ◽  
Jana Saadi ◽  
...  
Keyword(s):  
Front Axle ◽  
Asia Pacific ◽  
Eastern Asia ◽  
Suspension Systems ◽  
Wheeled Vehicle ◽  
Roll Stabilization ◽  
Three Degree Of Freedom ◽  
Human Powered ◽  
Wheeled Vehicles ◽  
Growing Crop

Abstract This paper describes the motivation and development of a human-powered roll stabilization attachment for utilitarian two-wheeled vehicles. The proposed design has been built and tested by the authors in both on- and off-road conditions. It provides balance by providing a rolling platform underneath the two-wheeled vehicle (motorcycle) for the user to push against with their feet. This platform is placed under the driver’s sitting position and is towed from a three degree-of-freedom joint behind the front axle (i.e. one of the implementations uses a ball hitch joint). Fifty eight percent of the world’s motorcycles are in Asia Pacific, and Southern and Eastern Asia. In most of those countries, motorcycles greatly outnumber cars and many of these motorcycles function as utility vehicles. The uses of motorcycles include transportation of goods on the bike frame, transportation of goods on a trailer, and even pulling agricultural implements in farms. If no modifications are made to the motorcycle, at slow speeds operators of motorcycles must drag their feet on the ground and lightly push upwards as needed to retain balance. Attaching conventional outrigger wheels, similar to a motorcycle side-car, can negate some of the advantages of motorcycles that users value by: (A) preventing leaning into turns when rigid outriggers arms are used, (B) significantly increasing complexity and mass when outrigger arms mounted on suspension systems are used, and (C) increasing the vehicle’s width such that it can no longer travel between car lanes or between rows of growing crop. An additional design consideration for balancing motorcycles is the user’s need for quick conversion between a statically balanced vehicle and a vehicle can lean dynamically in turns, for example for someone who wishes to operate a motorcycle on farms but also travel quickly between agricultural fields. This conversion convenience is affected not only by the ease of attaching and detaching the balancing system but also by the ability to comfortably carry on the balancing system on the motorcycle even when it is not being used, such that it can be deployed when it is needed. This paper describes a design for a human-powered roll stabilization attachment that address these concerns and other identified user needs. It also provides with general equations to design similar human-powered roll stabilization systems for motorcycles.

A Review of Anti-Lock Braking System Configuration for Two-Wheeled Vehicle

2015 ◽  
Author(s):  
Liangyao Yu ◽  
Shuhao Huo ◽  
Xiaohui Liu ◽  
Xiaoxue Liu
Keyword(s):  
State Of The Art ◽  
The State ◽  
Additional Cost ◽  
System Configuration ◽  
Passenger Cars ◽  
Braking System ◽  
Wheeled Vehicle ◽  
Electric Scooter ◽  
Wheeled Vehicles ◽  
Electric Bike

Anti-Lock Braking Systems (ABS) have been developed and integrated into vehicles since it is invented more than thirty years ago. However, most of nowadays ABS are designed for multi-wheeled passenger cars, commercial cars and trucks. Due to the technical complexity and additional cost, ABS is not as common on two-wheeled vehicles, such as motorcycle, electric scooter, electric bike, etc. Study shows that injuries and deaths in relation to two-wheeled vehicles with ABS are significantly decreased. This paper is to provide a brief review of the state-of-the-art on the ABS configuration of two-wheeled vehicles.

Experimental Impact of a Pendulum With the Sand

2009 ◽  
Author(s):  
Seunghun Lee ◽  
Dan B. Marghitu
Keyword(s):  
Impact Velocity ◽  
Frictional Force ◽  
Granular Media ◽  
Stopping Time ◽  
Impact Angle ◽  
Resistance Force ◽  
Force Velocity ◽  
Static Resistance ◽  
Impact Angles ◽  
Resistance Forces

In this paper, a compound pendulum impacting a granular media is studied and the influences of initial impact velocity and impact angle are examined. The resistance forces are studied as the sum of a dynamic frictional force (velocity dependent) and a static resistance force (depth dependent). The penetrating angle is increasing with initial impact velocity as expected. However, the stopping time is decreasing with initial impact velocity for all initial impact angles in our system.

PWM Control Accuracy for Scratch Drive Actuators

2010 ◽  
Author(s):  
Jenelle Armstrong Piepmeier ◽  
Samara L. Firebaugh
Keyword(s):  
Open Loop ◽  
Open Loop Control ◽  
Forward Motion ◽  
Loop Control ◽  
Wheeled Vehicle ◽  
Straight Line ◽  
Fixed Radius ◽  
Turning Radius ◽  
Wheeled Vehicles ◽  
Control Accuracy

In this paper we investigate the problem of controlling a scratch drive actuator that has two discrete modes of locomotion: forward motion in a straight line, and forward motion with fixed radius curvature. This type of device can be modeled as a two-wheeled vehicle (with the previously stated constraints). By alternating between these two modes of operation, the device can move along a variable-radius curved path. In practice, the robots do not move in a purely straight manner. This paper seeks to quantify the accuracy that can be achieved by switching between the two modes of locomotion. This type of low-level open-loop control facilitates the use of a higher level feedback controller designed for two-wheeled vehicles with a variable turning radius.

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