Journal articles: 'Real-wheel drive'

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Pal, Bishwajit, and Samitha Khaiyum. "Wheel Slip Detection for Electric Drive in Planetary Exploration Vehicles." Journal of Computational and Theoretical Nanoscience 17, no. 9 (July 1, 2020): 4122–24. http://dx.doi.org/10.1166/jctn.2020.9030.

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This article illustrates a technique for tracking longitudinal wheel slips in real time using an embedded microcontroller to map current consumption against real-time current consumed by the engine. This system can be used and operated separately of each other on more than one wheel. To detect wheel slippage, a predefined slip curve mapped to a specific DC electric motor is mapped against the current consumed by the same operational motors. This paper also recommends a convenient control algorithm to calculate its slippage of the wheel in real time. This approach is implemented using distinct load and terrain on a planetary exploration robot.

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Gang, Li, and Yang Zhi. "Energy saving control based on motor efficiency map for electric vehicleswith four-wheel independently driven in-wheel motors." Advances in Mechanical Engineering 10, no. 8 (August 2018): 168781401879306. http://dx.doi.org/10.1177/1687814018793064.

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For four-wheel independently driven in-wheel motor electric vehicles, the four-wheel drive/braking torque can be controlled independently. Therefore, it has an advantage that energy saving control can be applied effectively. This article studies several energy saving control methods from two levels of driving and braking for four-wheel independently driven in-wheel motor electric vehicles under urban conditions based on the motor efficiency map. First, the energy saving control logic and the evaluation index were proposed in the article. The four-wheel drive torque was online optimized in real time through drive energy saving control, in order to improve the driving efficiency in the driving process of electric vehicles. According to the theory of ideal braking force distribution and Economic Commission of Europe braking regulations, the parallel regenerative braking control method based on the motor efficiency map was then studied. The parallel regenerative braking control method was applied to four-wheel independently driven in-wheel motor electric vehicles. The simulation analysis under typical urban driving cycle conditions was carried out to determine the braking intensity of the parallel brake front axle separate regenerative braking, and finally the braking energy recovery rate of electric vehicle can be improved in the low speed and low braking torque. Finally, simulation experiments have been carried out to verify the researched method under the NEDC, UDDS, and J1015 urban driving cycles. The simulation results show that the energy saving control methods have an obvious effect on energy saving under the urban driving cycle conditions.

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Nezhadali, V., B. Frank, and L. Eriksson. "Wheel loader operation—Optimal control compared to real drive experience." Control Engineering Practice 48 (March 2016): 1–9. http://dx.doi.org/10.1016/j.conengprac.2015.12.015.

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Bozic, Milos, Sanja Antic, Vojislav Vujicic, Miroslav Bjekic, and Goran Djordjevic. "Electronic gearing of two DC motor shafts for Wheg type mobile robot." Facta universitatis - series: Electronics and Energetics 31, no. 1 (2018): 75–87. http://dx.doi.org/10.2298/fuee1801075b.

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This paper describes the implementation of electronic gearing of two DC motor shafts. DC motors are drives for a mobile robot with wheels in the form of wheel - leg (Wheg) configuration. A single wheel consists of two Whegs (dWheg). The first DC motor drives one Wheg, while the second one drives another independent Wheg. One motor serves as the master drive motor, while the other represents the slave drive motor. As the motors are independent, it is necessary to synchronize the speed and adjust the angle between shafts. The main contribution of this paper is the implementation of control structure that enables the slave to follow the master drive, without mechanical coupling. Based on encoder measurements, the slave effectively follows the master drive for the given references of speed and angle. Speed and positioning loops are implemented on real time controller - sbRIO. The laboratory setup was created and comparison of realized and required angles and speeds was made.

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Fu, Xiang, Di Xu, and Yong He. "Design and Development of Test-Bed of Motor-Wheel-Drive Electric Vehicle." Applied Mechanics and Materials 321-324 (June 2013): 1535–38. http://dx.doi.org/10.4028/www.scientific.net/amm.321-324.1535.

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In this paper, firstly, the function of test-bed of motor-wheel-drive Electric Vehicle has been clarified, the frame structures of test-bed has been designed and built. Secondly, control algorithm of motor-wheel-drive Electric Vehicle has been established, including vector control algorithm model, digital PID algorithm model and electronic differential control algorithm model, the control system of test-bed has been designed. Lastly, based on the test bed, the control algorithm of motor-wheel-drive Electric Vehicle has been verified by bench test. The bench test results show that, the control algorithm of motor-wheel-drive Electric Vehicle can achieve straight-ahead control and steering control, which laid the foundation for the future of the real vehicle tests.

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He, Gang, and Li Qiang Jin. "Drive and Brake Joint Control of Acceleration Slip Regulation Road Test." Advanced Materials Research 971-973 (June 2014): 454–57. http://dx.doi.org/10.4028/www.scientific.net/amr.971-973.454.

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Based on the independent design front wheel drive vehicle traction control system (TCS), we finished the two kinds of working condition winter low adhesion real vehicle road test, including homogenous pavement and separate pavement straight accelerate, respectively completed the contrastive experiment with TCS and without TCS. Test results show that based on driver (AMR) and brake (BMR) joint control ASR system worked reliably, controlled effectively, being able to control excessive driving wheel slip in time, effectively improved the driving ability and handling stability of vehicle.

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Zhao, Ming Hui, Lian Dong Wang, Chao Liu, Rong Xin Chen, and Shuai Yang. "The Research of Driving Force Distribution under Identical-State-Control while 4WID-EV Driving Straight." Applied Mechanics and Materials 130-134 (October 2011): 1948–52. http://dx.doi.org/10.4028/www.scientific.net/amm.130-134.1948.

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The strategy of 4-wheel-identical-state-control is proposed on the designed 4-wheel-independent-driven electric vehicle (briefed as 4WID-EV), the working states of each wheel are adjusted to be the same through controlling the ratio of drive-force and vertical-load on them as equal as possible, the co-simulation of ADAMS and Matlab/Simulink is done about the 4WID-EV driving on the straight flat road and slopes. The real vehicle test is performed. The result indicates that the strategy of identical-state-control can control each wheel slip ratio to be equal, make each wheel working in phase, reduce the power loss, improve the vehicle power property, and achieve the aim of good driving force distribution.

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Zaitsev, Alexander. "Resource Assessment of Spiroid Gears Under Variable Loading Conditions." E3S Web of Conferences 157 (2020): 01007. http://dx.doi.org/10.1051/e3sconf/202015701007.

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The brief analysis of reasons of failure of mechanisms and drives of lifting, construction, and road-building machines based on engagement drives, and worm-gear class drives, represented by contact destructions of active surfaces of cog-wheel cogs resulting in malfunctions, breakages, failures, such as wear and furrows, was carried out. The need to create a method for calculating the wear of spiroids with regard of variable loading mode and time was substantiated. The method developed allows, with regard of real modes of operation of handling machinery, equipment and machines, determine the wear intensity values and calculate the spiroid gear drive resource with regard of duration of action of diving torque values in accordance with the set variable loading schedule for lifting, construction, and road-building machines under the wear intensity of the spiroid wheel cog on values of driving torque on the spiroid gear drive output shaft, obtained from experiments.

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Chen, Ruinan, and Jian Ou. "A hybrid fault-tolerant control strategy for four-wheel independent drive vehicles." Advances in Mechanical Engineering 13, no. 9 (September 2021): 168781402110454. http://dx.doi.org/10.1177/16878140211045486.

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In this paper, a hybrid fault-tolerant control strategy is putted forward to improve the stability of the four-wheel independent drive (4WID) electric vehicle with motor failures. To improve the handling performance of the vehicle with in-wheel motor failures, the faults of in-wheel motors are analyzed and modeled. Then, a model reference adaptive fault observer was designed to observe the faults in real-time. Based on the observation results, there are designed a model predictive control (MPC) based high-performance active fault-tolerant control (AFTC) strategy and a sliding mode control based high-robust passive fault-tolerant control (PFTC) strategy. However, the fault observation results may not always be accurately. For this circumstance, a hybrid fault-tolerant control strategy was designed to make the control method find a balance between optimality and robustness. Finally, a series of simulations are conducted on a hardware-in-loop (HIL) real-time simulator, the simulation results show that the control strategy designed in this paper is effectiveness.

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Jung, Hojin, and Seibum B. Choi. "Real-Time Individual Tire Force Estimation for an All-Wheel Drive Vehicle." IEEE Transactions on Vehicular Technology 67, no. 4 (April 2018): 2934–44. http://dx.doi.org/10.1109/tvt.2017.2779155.

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Song, Hong, and Xiao Long Huang. "Study on Electric Differential Control Scheme for Electric Vehicles." Advanced Materials Research 648 (January 2013): 348–52. http://dx.doi.org/10.4028/www.scientific.net/amr.648.348.

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In order to improve control performance of the electric vehicles independent motor driven wheel steering , using the Ackerman angle relation to design electronic differential system of electric vehicles based on DSP2407 . This control strategy considering various pavement condition and slip rate, will be able to realize the electric vehicles in the complex road conditions, and have fast response requirements. Electronic differential controller of electric vehicles based on DSP2407 can deal with between speed of body and Angle of the nonlinear relationship effectively, when steering operation, is about to drive wheel with input different torque, realized the good adaptive differential, and has advantages of good real-time performance and strong robustness etc.

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Heidfeld, Hannes, and Martin Schünemann. "Optimization-Based Tuning of a Hybrid UKF State Estimator with Tire Model Adaption for an All Wheel Drive Electric Vehicle." Energies 14, no. 5 (March 3, 2021): 1396. http://dx.doi.org/10.3390/en14051396.

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Novel drivetrain concepts such as electric direct drives can improve vehicle dynamic control due to faster, more accurate, and more flexible generation of wheel individual propulsion and braking torques. Exact and robust estimation of vehicle state of motion in the presence of unknown disturbances, such as changes in road conditions, is crucial for realization of such control systems. This article shows the design, tuning, implementation, and test of a state estimator with individual tire model adaption for direct drive electric vehicles. The vehicle dynamics are modeled using a double-track model with an adaptive tire model. State-of-the-art sensors, an inertial measurement unit, steering angle, wheel speed, and motor current sensors are used as measurements. Due to the nonlinearity of the vehicle model, an Unscented Kalman Filter (UKF) is used for simultaneous state and parameter estimation. To simplify the difficult task of UKF tuning, an optimization-based method using real-vehicle data is utilized. The UKF is implemented on an electronic control unit and tested with real-vehicle data in a hardware-in-the-loop simulation. High precision even in severe driving maneuvers under various road conditions is achieved. Nonlinear state and parameter estimation for all wheel drive electric vehicles using UKF and optimization-based tuning is shown to provide high precision with minimal manual tuning effort.

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Howroyd, Simon, and Rob Thring. "An electric vehicle model and validation using a Nissan Leaf: A Python-based object-oriented programming approach." Advances in Mechanical Engineering 10, no. 7 (July 2018): 168781401878209. http://dx.doi.org/10.1177/1687814018782099.

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Electric vehicles are becoming more and more prevalent, especially with major manufacturers announcing that they will be focusing on electric or hybrid vehicles in the future. This article describes an object-oriented approach to a vehicle model using Python 3. This approach allows for flexibility of vehicle design. The key parameters were input to define the specific vehicle for validation, in this case a Nissan Leaf. It is anticipated that this flexibility will lead to rapid exploratory design of vehicle variants, such as four-wheel drive, independent wheel drive and multiple electrical sources. The model had its objects individually validated before the whole vehicle was verified against common drive cycles and a real-world drive in the United Kingdom recorded using an On-board Diagnostics (OBD2) Bluetooth dongle.

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Orecchini, Fabio, Adriano Santiangeli, and Fabrizio Zuccari. "Real Drive Well-to-Wheel Energy Analysis of Conventional and Electrified Car Powertrains." Energies 13, no. 18 (September 14, 2020): 4788. http://dx.doi.org/10.3390/en13184788.

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Reducing fuel consumption and global emissions in the automotive sector has been a main focus of vehicle technology development for long time. The most effective goal to achieve the overall sustainability objectives is to reduce the need for non-renewable and fossil resources. Five vehicles, two conventional ICE, two hybrid-electric, and one pure electric powertrain, are considered. Non-renewable primary energy consumption and CO2 emissions are calculated for each powertrain considered. All data—including calculated values—are based on the experimental measure of fuel consumption taken in real driving conditions. The data were recorded in an experimental campaign in Rome, Italy on urban, extra-urban streets, and highway on a total of 5400 km and 197 h of road acquisitions. The analysis shows significant reductions in non-renewable fossil fuel consumption and CO2 emissions of hybrid-electric powertrains compared to conventional ones (petrol and diesel engines). Furthermore, a supplementary and very interesting comparison analysis was made between the values of energy consumptions measured during the tests in real driving conditions and the values deriving from the NEDC and WLTP homologation cycles.

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Chu, Liang, Jian Chen, and Yan Bo Wang. "A Driver Model for Direction Control in Intelligent Driving Based on Fuzzy Control." Applied Mechanics and Materials 201-202 (October 2012): 422–27. http://dx.doi.org/10.4028/www.scientific.net/amm.201-202.422.

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Driver model is the most essential part of intelligent driving system. In Driver-Vehicle- Environment system, a driver is a pre-condition, to correct pedal input and the steering wheel angle position in right time, which makes the vehicle drive in expected path. A new driver model is introduced. Firstly, a real-time algorithm based on dynamic parameters of vehicle body is proposed to estimate body posture in the next step moment. Secondly, vehicle’s posture is compared with the target trajectory to get a deviation quantity. And a correction value for angle at the steering wheel is obtained according to a driver model based on fuzzy gain modulated PID control, which is completed in Simulink workspace. Finally, driver model is verified by two typical driving maneuvers in simulation. And results show that the driver model achieves a good performance and suitability in different applications of Driver-Vehicle-Environment.

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Bąkała, Marcin, Piotr Duch, J. A. Tenreiro Machado, Piotr Ostalczyk, and Dominik Sankowski. "Commensurate and Non-Commensurate Fractional-Order Discrete Models of an Electric Individual-Wheel Drive on an Autonomous Platform." Entropy 22, no. 3 (March 5, 2020): 300. http://dx.doi.org/10.3390/e22030300.

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This paper presents integer and linear time-invariant fractional order (FO) models of a closed-loop electric individual-wheel drive implemented on an autonomous platform. Two discrete-time FO models are tested: non-commensurate and commensurate. A classical model described by the second-order linear difference equation is used as the reference. According to the sum of the squared error criterion (SSE), we compare a two-parameter integer order model with four-parameter non-commensurate and three-parameter commensurate FO descriptions. The computer simulation results are compared with the measured velocity of a real autonomous platform powered by a closed-loop electric individual-wheel drive.

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Ling, Hongwei, and Bin Huang. "Research on Torque Distribution of Four-Wheel Independent Drive Off-Road Vehicle Based on PRLS Road Slope Estimation." Mathematical Problems in Engineering 2021 (September 11, 2021): 1–11. http://dx.doi.org/10.1155/2021/5399588.

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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.

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Mao, Xu, Xin Wang, Jun Chao Zhang, Kai Chen, Jiang Zhao, and Yu Zhang. "Design of Electric Orchard Vehicle Four-Wheel Steering Control System." Advanced Materials Research 753-755 (August 2013): 1966–69. http://dx.doi.org/10.4028/www.scientific.net/amr.753-755.1966.

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Nowadays, the operation of orchard vehicle which is used in China has the disadvantages such as single function poor automation level etc. Therefore, it can hardly adapt to the complex environment in orchard. The electric vehicle that powered by electrical drive motor can not only save energy, but also achieve the goal of controlling more conveniently and efficiently. Some electrical vehicles in China can take a variety of steering modes. However, most orchard vehicles lack of targeted terrain design. Electric four-wheel independent drive and steering vehicles have strongly strengthened this weakness. This paper uses four-wheel independent drive & four-wheel independent steering structure and completes the design of the control system. The aim is to achieve five different orchard vehicle driving modes which based on microcontroller system, real-time feedback and achieve differential speed calculating model through the multi-channel sensor in the steering modes. Thus, it can ensure the slip angle within the allowable range and driving stability. It also proposes the design & manufacturing of wireless remote control device and operation panel in order to simplify drivers operation and increase the efficiency.

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Kopczyński, Artur, and Paweł Roszczyk. "Power distribution in multi-motor (AWD) powertrain of electric vehicle." E3S Web of Conferences 100 (2019): 00038. http://dx.doi.org/10.1051/e3sconf/201910000038.

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This article presents the results of analysis of power distribution in an electric vehicle independent all-wheel drive. The utilized method of velocity distribution takes into account the change in the motion resistance occurring on particular wheel. Moreover, the method of determining the change of vertical loads on traction wheels is also described. Theoretical considerations were verified on a dedicated laboratory stand that allows to perform real time simulation for analysed powertrain structure. The results of two different scenarios of vehicle driving in curvilinear motion are presented.

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Xia, Qiu, Long Chen, Xing Xu, Yingfeng Cai, Haobin Jiang, Te Chen, and Guangxiang Pan. "Running States Estimation of Autonomous Four-Wheel Independent Drive Electric Vehicle by Virtual Longitudinal Force Sensors." Mathematical Problems in Engineering 2019 (June 9, 2019): 1–17. http://dx.doi.org/10.1155/2019/8302943.

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Exact sideslip angle estimation is significant to the dynamics control of four-wheel independent drive electric vehicles. It is costly and difficult-to-popularize to equip vehicular sensors for real-time sideslip angle measurement; therefore, the reliable sideslip angle estimation method is investigated in this paper. The electric driving wheel model is proposed and applied to the longitudinal force estimation. Considering that electric driving wheel model is a nonlinear model with unknown input, an unknown input estimation method is proposed to facilitate the longitudinal force observer design, in which the adaptive high-order sliding mode observer is designed to achieve the state estimation, the analytic formula of longitudinal force is obtained by decoupling electric driving wheel model, and the longitudinal force estimator is designed by recurrence estimation method. With the designed virtual longitudinal force sensor, an adaptive attenuated Kalman filtering is proposed to estimate the vehicle running state, in which the time-varying attenuation factor is applied to weaken the past data to the current filter and the covariance of process noise and measurement noise can be adjusted adaptively. Finally, simulations and experiments are conducted and the effectiveness of proposed estimation method is validated.

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Huang, Bin, Sen Wu, Song Huang, and Xiang Fu. "Lateral Stability Control of Four-Wheel Independent Drive Electric Vehicles Based on Model Predictive Control." Mathematical Problems in Engineering 2018 (2018): 1–15. http://dx.doi.org/10.1155/2018/6080763.

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Four-wheel independent drive electric vehicle was used as the research object to discuss the lateral stability control algorithm, thus improving vehicle stability under limit conditions. After establishing hierarchical integrated control structure, we designed the yaw moment decision controller based on model predictive control (MPC) theory. Meanwhile, the wheel torque was assigned by minimizing the sum of consumption rates of adhesion coefficients of four tires according to the tire friction ellipse theory. The integrated simulation platform of Carsim and Simulink was established for simulation verification of yaw/rollover stability control algorithm. Then, we finished road experiment verification of real vehicle by integrated control algorithm. The result showed that this control method can achieve the expectation of effective vehicle tracking, significantly improving the lateral stability of vehicle.

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Qiu, Hao, and Song Feng Liang. "A Coordinative Steering Control Method Based on PID Compensation for an Electric Vehicle." Applied Mechanics and Materials 644-650 (September 2014): 475–84. http://dx.doi.org/10.4028/www.scientific.net/amm.644-650.475.

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This paper presents a coordinating steering control method in an Electric Vehicle with Four-in-Wheel-Motors Drive and Four-Wheel Independent Steering. This control method applied a PID compensation to solve the absonant steering problem. This research builds a mathematic model for the control system and uses the Matlab simulation to verify the feasibility and control effect. Then it is applied in a real car environment for further experiment in which the paper studies the control effect with varied control parameters. According to the analysis of the experiment, a practical solution for steering System is proposed with excellent control effect.

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Kanchwala, Husain. "ORES: a chassis dynamometer for off-road vehicles." Mechanics & Industry 22 (2021): 6. http://dx.doi.org/10.1051/meca/2021004.

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Off-Road Environment Simulator (ORES) is a Real-time Hardware-in-the-Loop (RT-HIL) platform to simulate the dynamic response of off-road vehicles. This paper primarily focuses on the vehicle model development and validation using both field and rig testing using the ORES platform. Off-road vehicles are capable of operating on bumpy terrains where they are subjected to different resistive wheel torques due to non-unique ground friction conditions and wheel loads. If the powertrain torque output is not distributed in accordance with the resistive wheel torques, it may lead to transmission windup resulting in premature failure of various driveline components. In this study, the vehicle is driven over discrete bumps both in rig simulation and field trial. Different terrain enveloping models were evaluated namely the single point, radial-spring contact model and two-point follower (using circular and sinusoidal basis). These models were evaluated against the measured wheel acceleration responses. The two-point follower with sinusoidal basis strongly correlates with the measured responses and the ground excitations so obtained were used as inputs to a seven degree-of-freedom vehicle ride model. Ride model calculates the wheel loads and is eventually integrated with longitudinal dynamics, tire, driveline and test-rig models. Vehicle axle acceleration, wheel speed and drive torque responses are measured for validating the simulation results against field and rig trials. The field responses matches fairly well which validates the suitability of the proposed modeling approach.

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Zhang, Chuanwei, Jian Ma, Bo Chang, and Jianlong Wang. "Research on Anti-Skid Control Strategy for Four-Wheel Independent Drive Electric Vehicle." World Electric Vehicle Journal 12, no. 3 (September 8, 2021): 150. http://dx.doi.org/10.3390/wevj12030150.

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Four-wheel independent drive electric vehicles have become the latest development trend of electric vehicles due to their simple structure and high control accuracy. Aiming at the sliding problem of four-wheel independent driving electric vehicles in the driving process, a driving anti-skid control strategy is designed. The strategy includes two contents: (1) a road recognition module that tracks the best slip rate in real time; (2) a slip rate control module that uses fuzzy PID control. Then, based on Carsim and MATLAB/Simulink, the vehicle dynamics model, tire model and driving anti-skid control model are established. A simulation of the driving anti-skid control algorithm is carried out to verify the feasibility of the control strategy. Finally, based on the built-up dSPACE semi-physical experimental simulation platform, the verification was carried out, and the test and simulation results were compared to verify the effective feasibility of the driving anti-skid control strategy.

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SZCZYPIŃSKI-SALA, Wojciech, Krzysztof DOBAJ, and Adam KOT. "FRICTIONAL PROBLEMS IN CONTINUOUSLY VARIABLE TRANSMISSION BELT DRIVES." Tribologia, no. 5 (October 31, 2017): 93–100. http://dx.doi.org/10.5604/01.3001.0010.5923.

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The article describes the results of the research carried out on the evaluation of the influence of friction pairs (rubber belt – belt pulley in belt drive) on the ability to transmit power. In order to determine the characteristics of the belt drive operation, measurements were made on a real belt drive from the drive train of a light two-wheeled vehicle. The measurement was carried out in conditions of changes in the dynamic load. The measurements of the belt slip on the belt pulley within the whole range of the changes of gear ratios and angular speed of the engine were made. During the tests, belts made from various rubber mixtures were compared. The values of the friction coefficients between the surface of belts and the belt pulley were measured. Model analyses of the impact of belt slip on the wheel related to the temperature of Belt drive elements were also made. Generally, one can ascertain that, in belt drive systems, power losses are a combination of speed losses and torque losses. The increase in the efficiency of belt drives is possible by decreasing power losses. It is possible to obtain the high performance of continuously variable transmission belt drives with a V- belt solely with the proper choice of the design parameters, which is possible only after the exact recognition of the operational characteristics unique to this class of belt drive systems.

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Muravev, Vitaly V., Olga V. Muraveva, Ludmila V. Volkova, Milan Sága, and Zuzana Ságová. "Measurement of Residual Stresses of Locomotive Wheel Treads During the Manufacturing Technological Cycle." Management Systems in Production Engineering 27, no. 4 (December 1, 2019): 236–41. http://dx.doi.org/10.1515/mspe-2019-0037.

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AbstractThe production of two-wheeled rolling stock represents, at first glance, a simple assembly process that significantly affects the overall functionality and safety of the vehicle. This is due to residual stresses that arise after assembly by pressing the wheel on the axle. The state of stress after assembly remains in the design has a decisive influence on the load-bearing capacity of the two-wheel drive, its lifespan but also the transfer of the pulling force in the case of locomotives. Therefore, it is very important to find suitable methods for determining residual stresses. Numerical and experimental approaches are already in place to gain information on the state of stress after compression, or during a real operation. The developed techniques and tools for estimation of residual stresses in locomotive wheel treads based on the acoustoelasticity effect using electromagnetic acoustic transformation are described in the paper. The original results of residual stress measurement in the treads during a technological cycle of locomotive wheel pair manufacturing are presented.

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Tzeng, Sheng-Chung, Rong-Yuan Jou, and Jenq-Hwu Liou. "Unsteady thermal characteristics of a rotary blade coupling in a real-time four-wheel-drive vehicle." International Journal of Vehicle Design 36, no. 4 (2004): 365. http://dx.doi.org/10.1504/ijvd.2004.005811.

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Chen, Luming, Xiaojun Ma, Shuguang Wei, and Dong Yuan. "Real-Time Energy Management Strategy of Multi-Wheel Electric Drive Vehicles With Load Power Prediction Function." IEEE Access 9 (2021): 20681–94. http://dx.doi.org/10.1109/access.2021.3055289.

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Kulikov, Ilya, Kirill Karpukhin, and Rinat Kurmaev. "X-in-the-Loop Testing of a Thermal Management System Intended for an Electric Vehicle with In-Wheel Motors." Energies 13, no. 23 (December 6, 2020): 6452. http://dx.doi.org/10.3390/en13236452.

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The article describes an elaboration of the X-in-the-loop (XiL) testing environment for a thermal management system (TMS) intended for the traction electric drive of an electric vehicle, which has each of its wheels driven by an in-wheel motor. The TMS features the individual thermal regulation of each electric drive using a hydraulic layout with parallel pipelines and electrohydraulic pumps embedded into them. The XiL system is intended as a tool for studying and developing the TMS design and controls. It consists of the virtual part and the physical part. The former simulates the vehicle operating in a driving cycle with the heat power dissipated by the electric drive components, which entails the change in their temperature regimes. The physical part includes the TMS itself consisting of a radiator, pipelines, and pumps. The physical part also features devices intended for simulation of the electric drive components in terms of their thermal and hydraulic behaviors, as well as devices that simulate airflow induced by the vehicle motion. Bilateral, real-time interactions are established between the two said parts combining them into a cohesive system, which models the studied electric vehicle and its components. The article gives a description of a laboratory setup, which implements the XiL environment including the mathematical models, hardware devices, as well as the control loops that establish the interaction of those components. An example of using this system in a driving cycle test shows the interaction between its parts and operation of the TMS in conditions simulated in both virtual and physical domains. The results constitute calculated and measured quantities including vehicle speed, operating parameters of the electric drives, coolant and air flow rates, and temperatures of the system components.

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Gabbert, Ulrich, Fabian Duvigneau, and Stefan Ringwelski. "NOISE CONTROL OF VEHICLE DRIVE SYSTEMS." Facta Universitatis, Series: Mechanical Engineering 15, no. 2 (August 2, 2017): 183. http://dx.doi.org/10.22190/fume170615009g.

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The paper presents an overall simulation approach to control the noise emission of car engines at a very early stage of the design process where no real prototypes are available. The suggested approach combines different physical models and couples different software tools such as multi-body analysis, fluid dynamics, structural mechanics, magneto-electrodynamics, thermodynamics, acoustics and control as well. The general overall simulation methodology is presented first. Then, this methodology is applied to a combustion engine in order to improve its acoustical behavior by passive means, such as changing the stiffness and the use of damping materials to build acoustic and thermal encapsulations. The active control by applying piezoelectric patch actuators at the oil sump as the noisiest part of the engine is discussed as well. The sound emission is evaluated by hearing tests and a mathematical prediction model of the human perception. Finally, it is shown that the presented approach can be extended to electric engines, which is demonstrated at a newly developed electric wheel hub motor.

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Avutu, Sateesh Reddy, Sudip Paul, and Dinesh Bhatia. "Design and Feasibility Test of an Indigenous Motorized Wheel for Manual Wheelchair." International Journal of Manufacturing, Materials, and Mechanical Engineering 9, no. 3 (July 2019): 42–55. http://dx.doi.org/10.4018/ijmmme.2019070104.

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The wheelchair is essential for people with either spinal injury, limb injury, or trauma patients. The need at present is to customize the wheelchair based on the requirements of the disabled person. The maintenance and customization of a manual wheelchair is both simple and cost-effective when compared to powered wheelchairs, which are expensive and difficult to maintain in the long run. Accordingly, in this article, an attempt has been made to bring the facilities available in a powered wheelchair into the manual wheelchair, making it affordable to common people. Feasibility of a distinct manual wheelchair rear wheel rim is examined for various hub motor weights. The rear wheel of the manual wheelchair was replaced with an in-wheel direct drive hub-motor system. The proposed wheel model was designed using CATIA – V5 and an analysis was done using ANSYS software. A structural analysis was carried out to check the reliability and durability of the proposed wheel for different materials by changing hub-motor weights at various loading conditions. The nature of vibrations with respect to natural mode frequencies are found through modal analysis. Finally, the dynamic behavior of the proposed motorized wheel was examined using harmonic response analysis. Simulation results show the robustness of the proposed design and viability for real-time implementation.

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Luo, Yugong, Yun Hu, Fachao Jiang, Rui Chen, and Yongsheng Wang. "Active Fault-Tolerant Control Based on Multiple Input Multiple Output-Model Free Adaptive Control for Four Wheel Independently Driven Electric Vehicle Drive System." Applied Sciences 9, no. 2 (January 14, 2019): 276. http://dx.doi.org/10.3390/app9020276.

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To solve the problems with the existing active fault-tolerant control system, which does not consider the cooperative control of the drive system and steering system or accurately relies on the vehicle model when one or more motors fail, a multi-input and multi-output model-free adaptive active fault-tolerant control method for four-wheel independently driven electric vehicles is proposed. The method, which only uses the input/output data of the vehicle in the control system design, is based on a new dynamic linearization technique with a pseudo-partial derivative, aimed at solving the complex and nonlinear issues of the vehicle model. The desired control objectives can be achieved by the coordinated adaptive fault-tolerant control of the drive and steering systems under different failure conditions of the drive system. The error convergence and input-output boundedness of the control system are proven by means of stability analysis. Finally, simulations and further experiments are carried out to validate the effectiveness and real-time response of the fault-tolerant system in different driving scenarios. The results demonstrate that our proposed approach can maintain the longitudinal speed error (within 3%) and lateral stability, thereby improving the safety of the vehicles.

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Wang, Wen Wei, Cheng Lin, Wan Ke Cao, and Jiao Yang Chen. "Design of New Dual-Motor Independent Drive System for Electric Vehicle." Advanced Materials Research 591-593 (November 2012): 251–58. http://dx.doi.org/10.4028/www.scientific.net/amr.591-593.251.

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Multi-motor wheel independent driving technology is an important direction of electric vehicle(EV). Based on the analysis of the features of existing independent driving system of electric vehicle, a new dual-motor independent driving system configuration was designed. Complete parameters matching and simulation analysis of the system include motor, reducer, and battery. Distributed control network architecture based on high-speed CAN bus was developed, and information scheduling was optimized and real-time predictability was analyzed based on the rate monotonic (RM) algorithm and jitter margin index. The vehicle lateral stability control was achieved based on coordinated electro-hydraulic active braking. Based on the new dual-motor independent driving system, a new battery electric car was designed and tested. The results show that the vehicle has excellent dynamic and economic performance.

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Yan, Dang Hui, De An Zhao, and Hui Liang Shen. "The Mobile Robot Navigation System Design Based on GPS and GIS." Applied Mechanics and Materials 241-244 (December 2012): 1918–21. http://dx.doi.org/10.4028/www.scientific.net/amm.241-244.1918.

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The paper develops an autonomous navigation system with Visual C++ 6.0, combining all-terrain and all-weather mobile robot platform with the high-precision dual-frequency RTK-GPS. The intelligent mobile robot achieves autonomous navigation control. Owing to the four-wheel drive, path tracking is better implemented; Owing to the use of high-precision GPS, position locating is more accurate; Owing to the multithreaded design of the program, real-time requirements of the navigation is better achieved; By the way of map matching of GIS, the path tracking is real-time and the navigation of the robot is more visual and intuitive. The result of experiment shows that this navigation system can meet the requirements of accuracy and real-time and complete the navigation task very well.

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Liu, Xiang, Mian Li, and Min Xu. "A new anti-skid control method for electric vehicles using the motor torque and the wheel acceleration with experimental verification." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 231, no. 3 (August 5, 2016): 347–59. http://dx.doi.org/10.1177/0954407016639444.

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Driving electric vehicles by electric motors can result in many unique advantages for dynamic control of electric vehicles. With the superior fast and accurate torque control performance of electric motors, electric vehicles, in particular, can achieve higher levels of safety and handling performance. A simple, effective and efficient anti-skid control method specified for electric vehicles is proposed in this paper by considering the real-world resistance factors. This method is developed on the basis of sensing and regulating a newly defined parameter, namely the ratio of the drive motor torque to the angular acceleration of the wheels, both of which can be easily obtained for electric motors. The monotonic relationship between the slip ratio and the ratio of the drive motor torque to the angular acceleration of the wheels is proved under both acceleration conditions and deceleration conditions, by considering the real-world resistance factors. The simulations and the experimental results show that the ratio of the drive motor torque to the angular acceleration of the wheels can be efficiently used, instead of the slip ratio, in anti-skid control. The results indicate that electric vehicles can achieve high-performance vehicle motion control with more flexible and simplified configurations by using in-wheel electric motors.

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Popescu, Florin Dumitru, Sorin Mihai Radu, Andrei Andraș, and Ildiko Brînaș. "Numerical Modeling of Mine Hoist Disc Brake Temperature for Safer Operation." Sustainability 13, no. 5 (March 7, 2021): 2874. http://dx.doi.org/10.3390/su13052874.

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The sustainable exploitation of raw materials, with improved safety and increased productivity, is closely linked to the development of mechanical mining installations. Mine hoists are designed for the transport of material, equipment and personnel between the mine surface and the underground. The mine hoist braking system is of paramount importance in its safe operation. Thus, for both drum and disc brake systems, the temperature of the friction surfaces is important for ensuring efficient braking, as exceeding the temperature threshold causes a decrease in the braking capacity. In this paper we present a numerical calculation model for the temperature of the braking disc of a mine hoist in the case of emergency braking. A real-scale model was built, based on the cable drive wheel and disc brake system of a hoisting machine used in Romania. Real material characteristics were imposed for the brake discs, the cable drive wheel and the brake pads. The simulation was performed for decelerations of 3, 3.5, 4 and 4.5 m/s2. The analysis shows that regardless of the acceleration and time simulated, the disc temperature reaches its maximum after 1.35 s of emergency braking. This value does not exceed the 327 °C limit where, according to previous studies, the braking power starts to fade. It means that the emergency braking is safe for the acceleration and masses under consideration, in the case of the studied mine hoist.

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Feng, Xiangli, Qingqi Zhuo, Xiubin Liu, Yanlin Qian, and Yue Li. "Development of multi-motor synchronous control system based on network-on-chip." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 234, no. 9 (February 12, 2020): 1000–1010. http://dx.doi.org/10.1177/0959651819901032.

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This article presents a novel system architecture based on network-on-chip for multi-motor synchronous control. The system integrates several servo motor controllers in a single chip which permits an increase to the number of motors according to the application requirements. Compared with traditional multi-motor control architectures, such as bus-based distributed architecture and single-core microprocessor architecture, network-on-chip-based architecture supports high-precision multi-axis real-time control with high network bandwidth and parallel processing. A four-wheel drive intelligent car experiment platform is developed for performance testing. It has a convenient process for parameter tuning. Several experiments are conducted to demonstrate the feasibility and real-time performances of the system. The research work has a good potential in integration, real-time performance of multi-motor synchronous control system.

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Dou, Haishi, Youtong Zhang, and Likang Fan. "Design of Optimized Energy Management Strategy for All-Wheel-Drive Electric Vehicles." Applied Sciences 11, no. 17 (September 4, 2021): 8218. http://dx.doi.org/10.3390/app11178218.

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The performance of the all-wheel-drive electric vehicle is inseparable from the energy management strategy (EMS). An outstanding EMS could extend the cycling mileage, coordinating the power output of the battery and exerts the advantage of the motor comprehensively. However, the current EMS has poor performance in real-time, and this paper proposes the dynamic programming coordination strategy (DPCS) to solve the problem. Firstly, the EMS based on a rule-based control strategy (RBCS) is applied in a different driving cycle. Secondly, the dynamic programming algorithm (DP) is proposed in the process. The DPCS cooperated the advantage of RBCS and DP, extracting the boundary parameters along with the demand power and vehicle speed. Finally, the number of motors joined in the driving condition is elucidated and the method obtains the optimal torque split ratio through a partly-known driving cycle. By incorporating the thought of a basis of rules, the DPCS determines the torque of each motor that confirm the motor working in an efficient range that incorporates the mind of dynamic programming. The method is validated through the simulation. The results show that the strategy can significantly improve the mileage of the driving cycle, with comprehensive performance in energy distribution and utilization.

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Yang, Peng Fei, Lu Xiong, and Zhuo Ping Yu. "Comparison of Control Allocation Algorithms Used in Stability Control of Four In-Wheel-Motors Drive Electric Vehicle." Applied Mechanics and Materials 437 (October 2013): 669–73. http://dx.doi.org/10.4028/www.scientific.net/amm.437.669.

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Design the stability control strategy of four in-wheel-motors drive electric vehicle (EV) based on control allocation. Two kinds of control allocation methods are designed in this paper, one is the quadratic programming (QP), and the other is a simplified optimization method (SOM). Comparing and evaluating the control strategies through the co-simulation with MATLAB software and CARSIM software. The results of the simulation show: both strategies could stabilize the vehicle posture well under critical condition. QP has more accuracy than SOM, and could rebuild the system automatically when the motor fails. But the SOM doesn’t need iteration, could be possible to use in the real vehicle.

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Wang, Junmin, Lee Alexander, and Rajesh Rajamani. "Friction Estimation on Highway Vehicles Using Longitudinal Measurements." Journal of Dynamic Systems, Measurement, and Control 126, no. 2 (June 1, 2004): 265–75. http://dx.doi.org/10.1115/1.1766028.

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This paper develops a real-time tire-road friction coefficient measurement system that can reliably distinguish between different road surface friction levels and quickly detect abrupt changes in friction coefficient. The measurement system relies on the use of differential GPS and utilizes a nonlinear longitudinal tire force model. Compared to previously published results in literature, the advantage of the system developed in this paper is that it is applicable during both vehicle acceleration and braking and works reliably for a wide range of slip ratios, including high slip conditions. The system can be utilized on front/rear-wheel drive as well as all-wheel drive vehicles. Extensive results are presented from experimental results conducted on various surfaces with a winter maintenance vehicle called the “SAFEPLOW.” The experimental results show that the system performs reliably and quickly in estimating friction coefficient on different road surfaces during various vehicle maneuvers. The developed friction measurement system has many applications in vehicle safety systems such as ABS, skid control and collision avoidance systems and is also useful for winter maintenance vehicles in which knowledge of the friction coefficient can be used to determine the amount and type of deicing chemicals to be applied to a winter roadway.

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Wang, Xiao, Dacheng Cong, Zhidong Yang, Shengjie Xu, and Junwei Han. "Iterative learning control with complex conjugate gradient optimization algorithm for multiaxial road durability test rig." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 233, no. 7 (July 17, 2018): 2349–60. http://dx.doi.org/10.1177/0954406218786981.

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Service load replication performed on multiaxial hydraulic test rigs has been widely applied in automotive engineering for durability testing in laboratory. The frequency-domain off-line iterative learning control is used to generate the desired drive file, i.e. the input signals which drive the actuators of the test rig. During the iterations an experimentally identified linear frequency-domain system model is used. As the durability test rig and the specimen under test have a strong nonlinear behavior, a large number of iterations are needed to generate the drive file. This process will cause premature deterioration to the specimen unavoidably. In order to accelerate drive file construction, a method embedding complex conjugate gradient algorithm into the conventional off-line iterative learning control is proposed to reproduce the loading conditions. The basic principle and monotone convergence of the method is presented. The drive signal is updated according to the complex conjugate gradient and the optimal learning gain. An optimal learning gain can be obtained by an estimate loop. Finally, simulations are carried out based on the identified parameter model of a real spindle-coupled multiaxial test rig. With real-life spindle forces from the wheel force transducer in the proving ground test to be replicated, the simulation results indicate that the proposed conventional off-line iterative learning control with complex conjugate gradient algorithm allows generation of drive file more rapidly and precisely compared with the state-of-the-art off-line iterative learning control. Few have been done about the proposed method before. The new method is not limited to the durability testing and can be extended to other systems where repetitive tracking task is required.

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Cao, Wanke, Zhiyin Liu, Yuhua Chang, and Antoni Szumanowski. "Direct Yaw-Moment Control of All-Wheel-Independent-Drive Electric Vehicles with Network-Induced Delays through Parameter-Dependent Fuzzy SMC Approach." Mathematical Problems in Engineering 2017 (2017): 1–15. http://dx.doi.org/10.1155/2017/5170492.

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This paper investigates the robust direct yaw-moment control (DYC) through parameter-dependent fuzzy sliding mode control (SMC) approach for all-wheel-independent-drive electric vehicles (AWID-EVs) subject to network-induced delays. AWID-EVs have obvious advantages in terms of DYC over the traditional centralized-drive vehicles. However it is one of the most principal issues for AWID-EVs to ensure the robustness of DYC. Furthermore, the network-induced delays would also reduce control performance of DYC and even deteriorate the EV system. To ensure robustness of DYC and deal with network-induced delays, a parameter-dependent fuzzy sliding mode control (FSMC) method based on the real-time information of vehicle states and delays is proposed in this paper. The results of cosimulations with Simulink® and CarSim® demonstrate the effectiveness of the proposed controller. Moreover, the results of comparison with a conventional FSMC controller illustrate the strength of explicitly dealing with network-induced delays.

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Мarmut, Igor, Andriy Kashkanov, and Vitaliy Kashkanov. "Investigation of the interaction of car wheels with the stand rollers during braking." Journal of Mechanical Engineering and Transport 13, no. 1 (2021): 68–77. http://dx.doi.org/10.31649/2413-4503-2021-13-1-68-77.

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The article discusses the issues of modeling conditions for obtaining diagnostic information about complex objects. As an example, the study of the braking qualities of four-wheel drive cars on an inertial roller stand is considered. Diagnosing the technical condition of cars from the point of view of traffic safety is one of the most important problems. This is especially important for systems whose technical condition affects traffic safety: especially braking systems. Foreign and domestic experience testifies to the effectiveness of instrumental control. The diagnostic equipment includes roller stands, on which you can check the braking properties of cars. As shown by many studies, in particular, carried out at the Department of Technical Operation and Service of Automobiles, KhNADU (HADI), inertial stands provide more reliable information about the technical condition of the car. Such stands allow you to reproduce the real speed and thermal modes of the brakes (especially those equipped with ABS). To improve the accuracy of diagnosing a car on a roller stand, it is necessary to have an idea of the nature of the interaction of the car wheels with the rollers. The studies of wheel rolling on the stand rollers have been carried out by many authors since the 80s of the last century. However, all these studies were carried out on uniaxial stands and for mono-drive vehicles. Nowadays, a large number of passenger cars have four-wheel drive. Rolling of the wheels of such cars on rollers and their interaction has practically not been studied. Therefore, a return to the study of this issue is relevant. A power model of the system of interaction between the car and the stand has been developed, taking into account the design features of the stand and the design features of the car's suspension. The power model of the system under consideration contains the equilibrium equations of the body and two bridges and the equations of motion of the rollers and wheels of the car. Based on the results of the analysis of the acting forces in the "car-stand" system, the braking moments on the wheels M and the coefficients of the use of the load q during the braking tests of a 4x4 vehicle were determined. The obtained research results allowed to improve the theory of interaction of a car wheel with the rollers of an inertial diagnostic stand.

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Othaganont, Pongpun, Francis Assadian, and Daniel J. Auger. "Multi-objective optimisation for battery electric vehicle powertrain topologies." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 231, no. 8 (October 6, 2016): 1046–65. http://dx.doi.org/10.1177/0954407016671275.

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Electric vehicles are becoming more popular in the market. To be competitive, manufacturers need to produce vehicles with a low energy consumption, a good range and an acceptable driving performance. These are dependent on the choice of components and the topology in which they are used. In a conventional gasoline vehicle, the powertrain topology is constrained to a few well-understood layouts; these typically consist of a single engine driving one axle or both axles through a multi-ratio gearbox. With electric vehicles, there is more flexibility, and the design space is relatively unexplored. In this paper, we evaluate several different topologies as follows: a traditional topology using a single electric motor driving a single axle with a fixed gear ratio; a topology using separate motors for the front axle and the rear axle, each with its own fixed gear ratio; a topology using in-wheel motors on a single axle; a four-wheel-drive topology using in-wheel motors on both axes. Multi-objective optimisation techniques are used to find the optimal component sizing for a given requirement set and to investigate the trade-offs between the energy consumption, the powertrain cost and the acceleration performance. The paper concludes with a discussion of the relative merits of the different topologies and their applicability to real-world passenger cars.

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Yang, Yu Zhen, Chang Sheng Ai, and Kevin Lee. "A Study of Robot Platform Based on WiFi Remote Control." Applied Mechanics and Materials 418 (September 2013): 20–24. http://dx.doi.org/10.4028/www.scientific.net/amm.418.20.

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In order to complete the complex operation in the dangerous environment and improve the efficiency and accuracy of industrial production. WiFi based remote control system platform is composed by the controlled mobile robot and control terminal such as PC. They communicate with each other through wireless network. The mobile robot constructs of four wheel drive. Microcontroller, sensor, wireless routing module, serial server and network camera are in the robot. Control terminal includes PC, control handle and other equipments. Using a proven and reliable wireless bridge, each network device can realize network communication with others. Based on the TCP/IP protocol, using socket programming technology, data communication can be achieved. Video capture uses the network camera. Through the test of the platform, bilateral operation with real-time haptic and video feedback are achieved. At the same time according to the real-time environmental information feedback, control terminal realizes the effective remote monitoring in the controlled end.

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Lim, Tae Gyoon, and Soon Geul Lee. "A Sludge Cleaning Robot for Sulfuric Acid Tank." Advanced Engineering Forum 2-3 (December 2011): 419–22. http://dx.doi.org/10.4028/www.scientific.net/aef.2-3.419.

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This paper presents development of a cleaning robot for the sludge in sulfuric acid tank. The sulfuric acid is made during SOx capturing process, well known as flue gas desulfurization, and it has very strong corrosion characteristics. The cloud of micro dust in the flue gas settles as sediment in the acid tank. Because the fume produced by the sulfuric acid is very toxic, the sulfate sludge must be removed not by a worker but by an underwater robot having anti-corrosion capability. For this purpose, an underwater robot is developed with anti corrosion materials for its elements such as robot body, drive shaft, wheel, waterproofing seal, power cable, slurry pumping tube, etc. A series of experiments of sludge cleaning shows that the developed robot works well in the real sulfuric acid tank.

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Gorelov, V. A., A. I. Komissarov, L. S. Sekletina, V. A. Gartfelder, and Duc Pham. "A control algorithm for simulation of real-world operating conditions for the drivetrain of an all-wheel drive vehicle with individually driven wheels on a chassis dynamometer." Cogent Engineering 7, no. 1 (January 1, 2020): 1737449. http://dx.doi.org/10.1080/23311916.2020.1737449.

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Yang, Shenghui, Shenghao Liang, Yongjun Zheng, Yu Tan, Zhang Xiao, Baosheng Li, and Xingxing Liu. "Integrated Navigation Models of a Mobile Fodder-Pushing Robot Based on a Standardized Cow Husbandry Environment." Transactions of the ASABE 63, no. 2 (2020): 221–30. http://dx.doi.org/10.13031/trans.13365.

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HighlighIntegrated navigation models for a two-wheel robot were specifically developed for a semi-enclosed environment.A combination of Kalman filter and fuzzy control system was developed with mathematical models.Real-time pose estimate and adjustment of perturbances due to feeding cows and fodder resistance were achieved.Abstract. As part of welfare feeding, standardized feeding is commonly used for cows in confined operations. Due to the strict facility requirements, smart mobile robots have been specifically developed to address these semi-enclosed environments. Their navigation is based on electromagnetic sensors with magnetic tapes, which does not easily allow route changes and other abilities afforded by the newer integrated sensors and Global Navigation Satellite System (GNSS) guidance packages available on large agricultural machinery in outdoor environments. This article proposes a system of integrated navigation using multiple sensors, which was used for a two-wheel-drive robot operating in the standardized environment of a cow husbandry facility. The developed system combined incremental encoders, ultrasonic sensors, and a gyroscope to determine parameters such as course angle and covered distance. A fuzzy self-adaption Kalman filter was applied to integrate these parameters and estimate the robot pose, so that the robot could achieve real-time course adjustment during operation. Experimental trials indicated that the real-world route was highly consistent with the set route. Moreover, the cross-track error was =0.10 m at a travel velocity of 0.2 m s-1, indicating that perturbances due to feeding cows and fodder resistance had little interference on the movement of the robot, and the models were robust and accurate. This novel integrated sensing system with a fuzzy self-adaption Kalman filter and derived models was able to guide real-time robot operations in a modern cow husbandry environment without the need for magnetic tapes. Keywords: Kalman filter, Integrated navigation, Motion models, Pose estimate, Welfare feeding.

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Hyuc Ko, Min, Kyoung Chul Kim, Abhijit Suprem, N. Prem Mahalik, and Boem Sahng Ryuh. "4WD mobile robot for autonomous steering using single camera based vision system." International Journal of Intelligent Unmanned Systems 2, no. 3 (August 5, 2014): 168–82. http://dx.doi.org/10.1108/ijius-06-2014-0005.

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Purpose – The purpose of this paper is to demonstrate System-of-Systems (SoS) approach to design and development of unmanned robotic platform for greenhouse agricultural application. Design/methodology/approach – SoS design approach is important in developing engineering products. It was observed that while system integration considers designs in a multi-disciplinary level framework, SoS is viewed as a solution focussed approach. In this paper, the authors have demonstrated SoS approach to develop a mobile robot platform. The wheels of the platform are independently controlled by using brushless DC and stepper motors based on fieldbus type Distributed Control System scheme. Findings – The constraints for autonomous traveling were identified during the first phase followed by development of 12 distinct sub-routines during second phase of training. Optimal camera installation angle, driving speeds, steering angle per pixel were found to be valuable constraints for feed-forward parameters for real-time driving. The platform was field tested in a tomato planted greenhouse for yield and weed mapping. Research limitations/implications – The paper focusses on studying vision-based autonomous four-wheel-drive (4WD) constraints and their implementation limitations. Practical implications – The platform was field tested in a tomato planted greenhouse for yield and weed mapping. Social implications – The platform can be used for agricultural operations such as crop scouting, monitoring, spraying, and mapping in a medium to large-scale greenhouse setting. Originality/value – The research and presentation is original. Starting from its mechanical specification to wheel performance study, development of path patterns for training and global navigation algorithm for testing and validation were achieved. The platform can autonomously be driven without any manual intervention.

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Lel, Iurii, Igor Glebov, Olga Musikhina, Ruslan Ganiev, and Nikolai Khardik. "Energy method of assessing and systematizing open pit automobile transport operating conditions." Izvestiya vysshikh uchebnykh zavedenii Gornyi zhurnal 1, no. 8 (December 21, 2020): 14–25. http://dx.doi.org/10.21440/0536-1028-2020-8-14-25.

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Research aim is to develop the method of assessing and systematizing open pit automobile transport operating conditions. Research relevance. Pit depth growth and the introduction of modern models of dump trucks capable of working on 18–24% slopes complicate the conditions of industrial vehicles operation. In this regard, the development of the method and indicators of rock mass transportation difficulty becomes relevant as well as the systematization of vehicles operation conditions. Research methodology. The method of evaluating the difficulty of transportation is based on calculating diesel consumption per one haul cycle and reducing the actual length of the route to the relative horizontal distance with the use of rock mass vertical haul horizontal equivalents. Experimental and analytical dependences for horizontal equivalents have been determined. As a criterion of transportation difficulty evaluation, the use of operation conditions difficulty coefficient has been substantiated showing how many times truck’s power consumption when moving along the real route is higher than power consumption when moving along the horizontal macadamized route of the same length. Results. As a result of the research, the method of assessing and systematizing the operation conditions of open pit automobile transport. It has been determined that maximum values for conditions difficulty ISSN 0536-1028 «Известия вузов. Горный журнал», № 8, 2020 25 coefficients for the trucks with 4 × 2 wheel configuration are 2.6–3.0, and for all-wheel drive trucks – 5.0–6.5. By the difficulty coefficient, all operating conditions are divided into 5 classes (relatively easy, medium, difficult, very difficult, and extremely difficult). It has been determined that operating conditions in the most of diamond-mining open pits of ALROSA PJSC refer to class 3 and 4 (difficult and very difficult). The introduction of the all-wheel drive trucks will go along with the transition of operating conditions to class 5 (extremely difficult). For most of Ural pits classes 2 and 3 are typical (medium and difficult). Scope of results. Research results are to be used in open pit automobile transport design and operation when assessing and systematizing operating conditions, in technological calculations when regulating and planning diesel consumption and dump trucks capacity, and when correcting the regulatory standards of maintenance support, etc.

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Journal articles on the topic 'Real-wheel drive'

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