Design and Dynamic Simulation Analysis of a Wheel–Track Composite Chassis Based on RecurDyn

The traditional chassis has the problems of low trafficability and poor stability under complex and changeable unstructured conditions. Thus, a wheel rail composite chassis is proposed. The chassis had a tracked travel mechanism at the front wheels and a wheeled travel mechanism at the rear wheels. This study presents the design, theoretical analysis and dynamic simulation analysis of the chassis. The maximum values of the passability of the wheel–track composite chassis that can be passed were calculated according to the relevant parameters. Furthermore, the chassis was modeled and simulated using RecurDyn to verify whether the values were reasonable. According to different values of the terrain, slope, vertical obstacle height and trench width, the change regularity of the track tension and driving torque of the chassis were obtained. The chassis is designed to improve the vehicle’s ability to operate under complex and diverse unstructured conditions.

Torque allocation strategy for four in-wheel-motor drive electric vehicle based on layered control

The differential torque of four in-wheel-motor drive electric automotive will affect vehicle stability, and applications of the differential driven assisting steering (DDAS) will be limited consequentially. To solve this problem, stability analysis and control system design is essential, therefore a DDAS stability control system is designed based on the layered control of yaw moment. Correlation functions are used to reflect the shifts of vehicle characteristic state between stable and unstable states, and help to determine the control weight of each subsystem in the lower-layer controller. In the lower-layer controller, the strategy of direct steering-wheel torque control is used to build a DDAS controller. Under different vehicle moving states, differential driving torque and yaw moment vary with the change of the control weights; and according to the theory of quadratic programming, optimal allocation of four-wheel driving torques will be made according to the total driving torque. The effectiveness of the proposed control system is verified by numerical simulation and hardware-in-the-loop experiment. The results show that the proposed control method can improve vehicle stability and ensure driving safety.

Configuration Design and Motion Performance Analysis of a New Wheeled Rolling Robot

A new wheeled rolling robot is designed based on planar 3-RRR parallel mechanism and spoke wheel with variable diameter, by adjusting the 3-DOF outputs of the planar 3-RRR parallel mechanism, the deformation and rolling motion of the rolling robot are realized, the rotation output of the parallel mechanism realizes the differential change of the diameter of the two supporting wheels of the rolling robot, and the moving output of the parallel mechanism changes the mass distribution of the system, so that the rolling robot can complete the forward, backward, turning and other motions. Based on the introduction of the performance parameters, driving system, variable diameter wheel configuration and motion mechanism of the rolling robot, the eccentric driving torque is analysis and the existing space of the eccentric torque is given, so as to further complete the selection of the driving motor of the robot. This article analysis three typical motions of robots and its performance parameters, such as straight movement, turn movement, climbing exercise, and builds a simple prototype under laboratory conditions to verify the feasibility of the three movements.

An Energy Efficient Control Strategy for Electric Vehicle Driven by In-Wheel-Motors Based on Discrete Adaptive Sliding Mode Control

This paper presents an energy efficient control strategy for electric vehicle (EV) driven by in-wheel-motors (IWMs) based on discrete adaptive sliding mode control (DASMC). The nonlinear vehicle model, tire model and the IWM model are established at first to represent the operation mechanism of the whole system. Based on the modeling, two virtual control variables are used to represent the longitudinal and yaw control efforts to coordinate the vehicle motion control. Then DASMC method is applied to calculate the required total driving torque and yaw moment, which can improve the tracking performance as well as the system robustness. According to the vehicle nonlinear model, the additional yaw moment can be expressed as a function of longitudinal and lateral tire forces. For further control scheme development, a tire force estimator using unscented Kalman filter is designed to estimate real-time tire forces. On these bases, energy efficient torque allocation method is developed to distribute the total driving torque and differential torque to each IWM, considering the motor energy consumption, the tire slip energy consumption and the brake energy recovery. Simulation results of the proposed control strategy using co-platform of Matlab/Simulink and CarSim® demonstrate that it can accomplish the vehicle motion control in a coordinated and economic way.

Simulation analysis and experiment of sampling process of wheel brush sampler based on discrete element method

In order to study the brush sweep sampling process through simulation analysis, the structure of the asteroid sampler is simplified on the basis of retaining the wheel brush. Soybean particles are selected as the verification sampling particles, and the physical and contact parameters of calibrated soybean particles are applied to the discrete element simulation software EDEM and the relationship between the sampling wheel brush speed and torque is analysed. At the same time, a set of wheel brush asteroid sampler ground torque test system is built to verify the accuracy of the discrete element simulation results. The results show that the driving torque of the sampling wheel brush is mutational in the process of sampling, and the faster the rotation speed of the sampling wheel brush, the more the mass of the collected particles, and the greater the driving torque required for the sampling wheel brush. This research provides a method basis for the structure selection and parameter optimization design of the asteroid sampler.

Study on the Mechanical Characteristics of the Screw Driving Torque during the Emptying of the Shield Soil Bin

This article studies the changing law of the driving torque of the screw conveyor during the emptying process of the earth pressure balance shield chamber. First, the discrete element method of discrete medium theory and 3D software SolidWorks were used to create the research object and the screw conveyor model, and then the model parameters were determined and calibrated through numerical calculations and indoor experiments. The final numerical calculation results show that: 1) the screw torque will drop in waves with the increase of the calculation time. When the screw conveyor rotates at 360 deg/s, the calculated screw torque fluctuation amplitude is small; 2) when the number of particles in the soil bin is reduced to a certain extent, the use of a higher screw speed to improve the “dumping soil effect” is of little significance; 3) the negative exponential function can be used to better fit the decrease of screw torque with time; 4) for the bulk medium, for a given particle size and screw structure, there is a suitable speed, so that the effect of “machine-soil collision” is small, and the torque change of the screw is relatively stable.

Dimensional optimization of rocker-bogie suspension for planetary rover based on kinetostatics and terramechanics

Dimensional optimization is important for planetary rovers to reach good performance, such as high mobility, stability, and low energy consumption. The paper presents a dimensional optimization for a planetary rover with rocker-bogie suspension. During the optimization process, the influence of dimensions on the actuation requirements is studied based on kinetostatics and terramechanics. The objective function is built considering the average driving torque requirements in the most common type of windblown terrain in Mars called megaripples. The optimal dimension design is reached through the genetic algorithm, and the influences of dimensional parameters on rover performances are studied by drawing performance atlases. This work realizes the consideration of energy consumption in the design phase of a planetary rover. Finally, the results guide the design of a rover prototype and are validated by a series of experiments.

Research on Torque Distribution of Four-Wheel Independent Drive Off-Road Vehicle Based on PRLS Road Slope Estimation

In view of the high difficulty in coupling of various electric vehicle parameters, intractable parameter estimation, and unreasonable distribution of vehicle driving torque, the four-wheel hub motor is applied to drive electric vehicles, which can instantly obtain the torque and speed of the hub motor and achieve precise control of the torque of each wheel. According to the vehicle longitudinal dynamics model, a progressive RLS (PRLS) algorithm for real-time estimation of vehicle mass and road gradient is proposed. Meanwhile, by means of taking the longitudinal acceleration of the vehicle and the road gradient obtained from the estimation algorithm as the parameter of the torque distribution at the front and rear axles, a dynamic compensation and distribution control strategy of the front and rear axle torques is designed. Moreover, based on hardware-in-the-loop real-time simulation and real-vehicle tests, the effectiveness of the proposed estimation algorithm and the rationality of the real-time distribution control strategy of driving torque are verified.