Mechanical Structural Optimization and Research for an Intelligent Vehicle Model

2013 ◽  
Vol 302 ◽  
pp. 486-489
Author(s):  
Chong Jie Leng ◽  
Hui Yu Xiang ◽  
Xiao Zhuang Zhou ◽  
Jia Jun Huang
Keyword(s):  
College Students ◽  
Structural Optimization ◽  
Rear Wheel ◽  
Front Wheel ◽  
Intelligent Vehicle ◽  
Main Study ◽  
Vehicle Model ◽  
Steering Mechanism ◽  
Wheel Alignment ◽  
Control Procedures

This paper utilized an intelligent vehicle model for the “Freescale” Cup National College Students' Intelligent Vehicle competition as the main study object. Under the prerequisite of adopting the same control procedures and algorithms, the mechanical structures and its parameters of the model vehicle which influence the running performance, such as front wheel alignment, steering mechanism and rear wheel deceleration mechanism are optimally designed and adjusted .It has been proved that the scheme induced the model vehicle driving fast and stable on the path-complex track and thus to achieve reasonable effects.

Simulation Study on Tractor’s Same-Rut-Steering Mechanism

2011 ◽  
Vol 338 ◽  
pp. 236-240
Author(s):  
Ren Cai Zhao ◽  
Xu Ma ◽  
Long Qi ◽  
Rui Chuan Li
Keyword(s):  
Soil Compaction ◽  
Three Dimensional ◽  
Rear Wheel ◽  
Front Wheel ◽  
Steering Wheel ◽  
Steering Mechanism ◽  
Environment Simulation ◽  
Parameterized Model ◽  
Simulation Results ◽  
Deflection Rate

When tractor steers in the same rut, it can not only improve its flexibility in steering, but also reduce soil compaction and crop rolling. In this paper , the concept of tractor steering in the same rut was proposed on the basis of four-wheel-steering (4WS) theory, and the angle relationship between front wheel and rear wheel, which can achieve the same-rut-steering, was established. A three dimensional parameterized model of tractor’s same-rut-steering mechanism was established by the Pro/E software, and its running tracks were simulated in the ADAMS environment. Simulation results show that the same-rut-steering accuracy was affected to some extent when tractor’s speed or steering wheel deflection rate was changed. At last, methods for improving the same-rut-steering accuracy were put forward.

Configuration Design and Finite Element Analysis for Key Components of the New-Type Sprayer

2014 ◽  
Vol 701-702 ◽  
pp. 853-857
Author(s):  
Yuan Zhang ◽  
Kun Li ◽  
Qiang Wei ◽  
Bo Yang Meng
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Structural Optimization ◽  
Power Transmission ◽  
Design Method ◽  
Rear Wheel ◽  
Element Analysis ◽  
Steering Mechanism ◽  
New Type ◽  
High Clearance

According to the three-wheeled high clearance sprayer on the current market, the traditional empirical design method can hardly be used for effective stress distribution calculation and structural optimization, so it leads to the unreasonable structural design. Based on the overall structure of the sprayer design, a new-type high clearance sprayer designed, It is mainly composed of the engine-powered diaphragm pump power transmission parts, the power steering of scalable universal joint, the rear wheel steering mechanism and other components. Meanwhile, the finite element analysis and structural optimization on the sprayer frame have been finished. Therefore, the results showed that the frame realized the lightweight on the premise of the demand of performance and stiffness, each mechanism’s matching performance of sprayer meets the design requirements, and this approach provides a beneficial investigation into the future sprayer design.

Implementation of SSM to Lateral Guided Steering Vehicle With Body Fixed High-Speed Camera

2013 ◽  
Author(s):  
Yoshihiro Takita ◽  
Date Hisashi
Keyword(s):  
High Speed ◽  
Rear Wheel ◽  
Front Wheel ◽  
Dump Truck ◽  
Reverse Phase ◽  
Automated Vehicle ◽  
Steering Mechanism ◽  
And Performance ◽  
The Stability ◽  
Rotating Camera

This paper proposes an SSM (Sensor Steering Mechanism) for a lateral guided vehicle with an articulated body. Authors demonstrated a simple lateral guiding method SSM for front wheel steer type, the reverse phase four-wheel steer type and rear wheel steer type vehicles. SSM presents a stable lateral guiding performance for automated vehicle that following a straight and curved path created by a guideway. This paper proposes a simplified SSM to remove the following servo system for a rotating camera. The simplified SSM is applied to 1/25 scale articulated dump truck that was developed and discussed in the previous paper. The stability of the simplified SSM is discussed. Experimental and simulation results show stable movement and performance of the proposed method.

Paper 5: Vehicle Behaviour in Combined Cornering and Braking

1968 ◽  
Vol 183 (8) ◽  
pp. 19-34 ◽  
Author(s):  
A. J. Harris ◽  
B. S. Riley
Keyword(s):  
Steady State ◽  
Load Transfer ◽  
Equations Of Motion ◽  
Rear Wheel ◽  
Front Wheel ◽  
Slip Angle ◽  
Vehicle Model ◽  
Force Coefficient ◽  
Wheeled Vehicle ◽  
Non Linear

This paper considers first the steady-state motions of a simple two-wheeled vehicle model having non-linear sideway force relationships with respect to tyre slip angle. It is shown that any steady-state conditions may be represented and their solutions found by simple graphical means, using only the non-linear curves. The curves can be modified to take into account the influence of vehicle parameters such as compliance, roll steer, wheel camber, and load transfer. Stability boundaries are discussed and criteria are presented showing that stability of the motion depends only on the slopes of the curves and the speed of the manoeuvre at the cornering acceleration being considered. A more involved four-wheeled vehicle model is then considered when subjected to braking while cornering on a fixed radius path of 45·8 m on a wet Bridport macadam surface. Actual sideway force–slip angle curves for combined braking and cornering, as presented by Holmes and Stone (see reference (6))†, are used with the equations of motion derived for the quasi-steady state conditions of decelerating while cornering. The effects of front wheel steered angle and body slip angle on the forces necessary for the manoeuvre are also considered. An envelope of maximum cornering acceleration at various braking decelerations is presented. This shows that for those particular conditions up to about 70 per cent of maximum deceleration may be obtained before there is more than about 10 per cent loss in maximum cornering ability. Outside the envelope the vehicle fails to maintain the path. At the lower deceleration the car spins, and at higher values it continues tangentially to its original path without spinning. It is also shown that the total sideway force–slip angle curve for a pair of front or rear wheels, when one or both wheels have a high braking force coefficient, can have a sharp peak, such that for small increase in slip angle there is a rapid fall in sideway force. It is suggested that this is why a rear wheel skid which occurs while braking and cornering is more difficult to correct than one which occurs when only cornering.

scholarly journals Model Predictive Control of Active Suspension for an Electric Vehicle Considering Influence of Braking Intensity

2020 ◽  
Vol 11 (1) ◽  
pp. 52 ◽  
Author(s):  
Junjiang Zhang ◽  
Yang Yang ◽  
Minghui Hu ◽  
Chunyun Fu ◽  
Jun Zhai
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Pitch Angle ◽  
Ride Comfort ◽  
Rear Wheel ◽  
Front Wheel ◽  
Mean Square ◽  
Vehicle Model ◽  
Loop Control ◽  
The Stability

In the process of vehicle braking, braking intensity has a significant impact on vehicle comfort, and studies on this aspect have been limited. Therefore, an equivalent 4-degree-of-freedom half-vehicle model including the braking intensity influence was established in this study. Subsequently, considering braking intensity as the interference quantity that is the uncontrollable input, a model predictive control (MPC) strategy in which the vertical velocities of front body, rear body, front wheel, and rear wheel are the control targets was proposed. Based on Lyapunov’s stability theory, the stability of the MPC system was proven. Finally, a dual-loop control (DLC) strategy was used for comparison to verify the superiority of the MPC strategy. The results indicate that compared with the DLC strategy under the gradual braking condition, the root mean square of the front and rear body vertical velocities, body pitch angle, and body pitch angle velocity under the MPC strategy were all reduced by more than 70%, thus improving the ride comfort of the vehicle.

Feedback control framework for car-like robots using the unicycle controllers

Robotica ◽  
2011 ◽  
Vol 30 (4) ◽  
pp. 517-535 ◽  
Author(s):  
Maciej Michałek ◽  
Krzysztof Kozłowski
Keyword(s):  
Stability Analysis ◽  
Feedback Control ◽  
Closed Loop ◽  
Path Following ◽  
Rear Wheel ◽  
Front Wheel ◽  
Steering Angle ◽  
Formal Stability ◽  
Control Framework ◽  
Error Dynamics

SUMMARYThe paper introduces a novel general feedback control framework, which allows applying the motion controllers originally dedicated for the unicycle model to the motion task realization for the car-like kinematics. The concept is formulated for two practically meaningful motorizations: with a front-wheel driven and with a rear-wheel driven. All the three possible steering angle domains for car-like robots—limited and unlimited ones—are treated. Description of the method is complemented by the formal stability analysis of the closed-loop error dynamics. The effectiveness of the method and its limitations have been illustrated by numerous simulations conducted for the three main control tasks, namely, for trajectory tracking, path following, and set-point regulation.

Study and Simulation on Truck Front Suspension Using ADAMS

2013 ◽  
Vol 433-435 ◽  
pp. 2235-2238
Author(s):  
Wei Ning Bao
Keyword(s):  
System Dynamics ◽  
Mechanical System ◽  
Steering System ◽  
Front Wheel ◽  
System Model ◽  
Simulation Test ◽  
Front Suspension ◽  
Body Dynamics ◽  
Wheel Alignment ◽  
Multi Body

The mechanical system dynamics software,ADAMS,is used to establish multi-body dynamics system model for a truck front suspension and steering system. Through the simulation test of wheel travel, front wheel alignment parameters changing along with the wheel travel was obtained.

Enhanced braking and steering yaw motion controllers with a non-linear observer for improved vehicle stability

2008 ◽  
Vol 222 (3) ◽  
pp. 293-304 ◽  
Author(s):  
Jeonghoon Song
Keyword(s):  
Load Transfer ◽  
Rear Wheel ◽  
Front Wheel ◽  
Driver Model ◽  
Lateral Acceleration ◽  
Slip Angle ◽  
Vehicle Stability ◽  
Motion Controller ◽  
Non Linear ◽  
Linear Observer

This study proposes two enhanced yaw motion controllers that are modified versions of a braking yaw motion controller (BYMC) and a steering yaw motion controller (SYMC). A BYMC uses an inner rear-wheel braking pressure controller, while an SYMC uses a rear-wheel steering controller. However, neither device can entirely ensure the safety of a vehicle because of the load transfer from the rear to front wheels during braking. Therefore, an enhanced braking yaw motion controller (EBYMC) and an enhanced steering yaw motion controller (ESYMC) are developed, which contain additional outer front-wheel controllers. The performances of the EBYMC and ESYMC are evaluated for various road conditions and steering inputs. They reduce the slip angle and eliminate variation in the lateral acceleration, which increase the controllability, stability, and comfort of the vehicle. A non-linear observer and driver model also produce satisfactory results.

scholarly journals An Improved Genetic Algorithm to Optimize Spatial Locations for Double-Wishbone Type Suspension System with Time Delay

2018 ◽  
Vol 2018 ◽  
pp. 1-8 ◽  
Author(s):  
Qiang Li ◽  
Xiaoli Yu ◽  
Jian Wu
Keyword(s):  
Time Delay ◽  
Ride Comfort ◽  
Optimization Method ◽  
Front Wheel ◽  
Vehicle Speed ◽  
Improved Genetic Algorithm ◽  
Vehicle Performance ◽  
Front Suspension ◽  
Wheel Alignment ◽  
Spatial Locations

By taking account of double-wishbone independent suspension with two unequal-length arms, the coordinate values of articulated geometry are based on structural limitations and constraint equations of alignment parameters. The sensitivities of front wheel alignment parameters are analyzed using the space analytic geometry method with insight module in ADAMS® software. The multiobjective optimization functions are designed to calculate the coordinate values of hardpoints with front suspension since the effect of time delay due to wheelbase can be easily obtained by vehicle speed. The K&C characteristics have been investigated using GA solutions in the simulation environment. The camber angle decreases from 1.152° to 1.05° and toe-in angle reduces from 1.036° to 0.944°. The simulation results demonstrate that the suggested optimization method is able to satisfy the suspension motion to enhance ride comfort. Experimental results, obtained by K&C test bench, also indicate that the optimized suspension can track the desired trajectory while keeping the vehicle performance in various road conditions.

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