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Dissertations / Theses on the topic 'Wheel control'

Author: Grafiati
Published: 7 June 2025
Last updated: 16 July 2025

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1

Logan, Jeffery Jay. "Control and Sensor Development on a Four-Wheel Pyramidal Reaction Wheel Platform." DigitalCommons@CalPoly, 2008. https://digitalcommons.calpoly.edu/theses/27.

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The Pyramidal Reaction Wheel Platform, or PRWP, is used to simulate three-axis controls in a torque free space-like environment. The primary purpose of the system will be to evaluate the effects of conjoining sensors to maximize pointing accuracy. Furthermore, the system will incorporate a star tracker in conjunction with a Simulated Star Field (SSF) to better estimate the PRWP orientation. For the sake of this document, however, the goal is to implement a gyroscope, wheel rate sensors, and a make-shift accelerometer—to the PRWP—and integrate a controls algorithm such that three-axis controls
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2

Silva, Seth F. "Applied System Identification for a Four Wheel Reaction Wheel Platform." DigitalCommons@CalPoly, 2010. https://digitalcommons.calpoly.edu/theses/328.

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Applied System Identification for a Four Wheel Reaction Wheel Platform By Seth Franklyn Silva At the California Polytechnic State University, San Luis Obispo there is a four-wheel reaction wheel pyramidal simulator platform supported by an air-bearing. This simulator has the current capability to measure the wheel speeds and angular velocity of the platform, and with these measurements, the system identification process was used to obtain the mass properties of this simulator. A handling algorithm was developed to allow wireless data acquisition and command to the spacecraft simulator from a
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Kienhöfer, Frank Werner. "Heavy vehicle wheel slip control." Thesis, University of Cambridge, 2011. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.609594.

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4

Westbom, Daniel, and Petter Frejinger. "Yaw control using rear wheel steering." Thesis, Linköping University, Department of Electrical Engineering, 2002. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-1463.

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<p>The purpose of this project is to continue the work on a vehicle model developed in ADAMS/Car and applied with the concept of ACM (Autonomous Corner Module). The project is divided up in two parts. The objective of the first part is to setup a co-simulation environment between ADAMS/Car and MATLAB/Simulink, and evaluate the vehicle model. In the second part a yaw controller is developed using only the rear wheel steering possibilities. The controller will be evaluated when it is applied on the vehicle model. </p><p>The approach is to develop two models, one simpler in MATLAB/Simulink and on
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5

Nilsson, Tomas. "Optimal Predictive Control of Wheel Loader Transmissions." Doctoral thesis, Linköpings universitet, Fordonssystem, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-112722.

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The transmissions of present heavy wheel loaders are in general based on torque converters. The characteristics of this component suits these machines, especially in that it enables thrust from zero vehicle speed without risk of stalling the engine, without active control. Unfortunately, the component also causes losses which might become large compared to the transmitted power. One approach for mitigating these losses is to switch to a continuously variable transmission. Changing to such a system greatly increases the possibility, and the need, for actively selecting the engine speed, and her
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Skelton, Claude Eugene II. "Mixed Control Moment Gyro and Momentum Wheel Attitude Control Strategies." Thesis, Virginia Tech, 2003. http://hdl.handle.net/10919/9677.

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Attitude control laws that use control moment gyros (CMGs) and momentum wheels are derived with nonlinear techniques. The control laws command the CMGs to provide rapid angular acceleration and the momentum wheels to reject tracking and initial condition errors. Numerical simulations of derived control laws are compared. A trend analysis is performed to examine the benefits of the derived controllers. We describe the design of a CMG built using commercial off-the-shelf (COTS) equipment. A mixed attitude control strategy is implemented on the spacecraft simulator at Virginia Tech.<br>Master of
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7

Villella, Matthew G. "Nonlinear Modeling and Control of Automobiles with Dynamic Wheel-Road Friction and Wheel Torque Inputs." Thesis, Georgia Institute of Technology, 2004. http://hdl.handle.net/1853/5198.

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This thesis presents a new nonlinear automobile dynamical model and investigates the possibility of automobile dynamic control with wheel torque utilizing this model. The model has been developed from first principles by applying classical mechanics. Inputs to the model are the four independent wheel torques, while the steer angles at each wheel are specified as independent time-varying signals. In this way, consideration of a variety of steering system architectures, including rear-wheel steer, is possible, and steering introduces time-varying structure into the vehicle model. The frictio
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8

Pan-Ngum, Setha. "Alternative vehicle electronic architecture for individual wheel control." Thesis, University of Warwick, 2001. http://wrap.warwick.ac.uk/59476/.

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Electronic control systems have become an integral part of the modern vehicle and their installation rate is still on a sharp rise. Their application areas range from powertrain, chassis and body control to entertainment. Each system is conventionally control led by a centralised controller with hard-wired links to sensors and actuators. As systems have become more complex, a rise in the number of system components and amount of wiring harness has followed. This leads to serious problems on safety, reliability and space limitation. Different networking and vehicle electronic architectures have
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9

Gustavsson, Viktor. "Path Control for Autonomous Four-Wheel Steered Haulers." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-232186.

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Path following control is a fundamental part of vehicle autonomy and over the lastdecades extensive research has been conducted towards the development of moreadvanced algorithms for path control of autonomous vehicles. The primary interestin improving path following control for autonomous vehicles is to be able to reducethe tracking error relative to the vehicle's reference path while also increasing thespeed at which trajectory tracking is possible. In this thesis, path following controlwas considered for an autonomous electric four-wheel steered hauler. For thispurpose, two dierent control
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10

Gräsberg, Pontus, and Bill Lavebratt. "Reaction Wheel Stabilized Stick." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264481.

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Control theory can be used to make an unstable system stable. This thesis seeks to do this, where the system is a two DOF inverted pendulum with reaction wheels for stabilisation. The thesis also seeks to answer what is most important for making it stabilize for a longer period of time. It was decided that a state space controller was to be used with various sensors measuring the states. To be able to design a functioning demonstrator, a mathematical model of the system dynamics was developed. In the end the demonstrator proved to function as desired, being able to balance indefinitely. It was
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11

Yoo, Dae Keun, and not supplied. "Model based wheel slip control via constrained optimal algorithm." RMIT University. Electrical and Computer Engineering, 2006. http://adt.lib.rmit.edu.au/adt/public/adt-VIT20070125.163142.

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In a near future, it is imminent that passenger vehicles will soon be introduced with a new revolutionary brake by wire system which replaces all the mechanical linkages and the conventional hydraulic brake systems with complete 'dry' electrical components. One of the many potential benefits of a brake by wire system is the increased brake dynamic performances due to a more accurate and continuous operation of the EMB actuators which leads to the increased amount of possibilities for control in antilock brake system. The main focus of this thesis is on the application of a model predictive con
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12

Varnhagen, Scott Julian. "Development of Vehicle Dynamics Control for Wheel-Motored Vehicles." Thesis, University of California, Davis, 2015. http://pqdtopen.proquest.com/#viewpdf?dispub=3685305.

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<p> This dissertation describes a methodology for the vehicle dynamics control of a wheel motored vehicle. All theory is developed assuming that the driver has control of the front wheel steering angle, and that wheel torque is solely generated by independent wheel motors at each corner of the vehicle. Theoretical work is presented for the general case with four independent wheel motors, but can be easily reduced to a situation with only two wheel motors. Indeed, all theory developed in this work is evaluated experimentally on a production automobile converted to be driven by two independen
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Crews, Steven R. II. "Increasing slew performance of reaction wheel attitude control systems." Thesis, Monterey, California: Naval Postgraduate School, 2013. http://hdl.handle.net/10945/37606.

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Approved for public release; distribution is unlimited<br>This thesis explores the physical and mathematical limitations of two common attitude control systems: one based on reaction wheels and another based on control moment gyroscopes (CMGs). The dynamics are derived from first principles and control algorithms for achieving maximum reaction wheel potential are discussed. The shaped eigenaxis input is utilized to establish baseline maneuver performance. A time-optimal shaped input is introduced and implemented in a feedback setting, subject to the limitations of the Moore-Penrose pseudo-inve
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14

Economou, John Theodoros. "Modelling and control of multi wheel skid steer vehicles." Thesis, Cranfield University, 1999. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.342493.

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15

Reichenwallner, Christopher, and Daniel Wasborg. "Control of a Hydraulic Hybrid System for Wheel Loaders." Thesis, Linköpings universitet, Fluida och mekatroniska system, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-158902.

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In recent years many companies have investigated the use of hybrid technology due to the potential of increasing the driveline’s efficiency and thus reducing fuel consumption. Previous studies show that hydraulic hybrid technology can be favourable to use in construction machinery such as wheel loaders, which often operate in repetitive drive cycles and have high transient power demands. Parallel as well as Series hybrid configurations are both found suitable for wheel loader applications as the hybrid configurations can decrease the dependency on the torque converter. This project has investi
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16

Spangenberg, Ulrich. "Reduction of rolling contact fatigue through the control of the wheel wear shape." Thesis, University of Pretoria, 2017. http://hdl.handle.net/2263/62796.

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Heavy haul railway operations permit the transport of huge volumes at lower cost than other modes of transport. The low cost can only be sustained if the maintenance costs associated with such railway operations are minimised. The maintenance costs are mainly driven by wheel and rail damage in the form of wear and rolling contact fatigue (RCF). Low wear rates in the wheel-rail interface have resulted in an increase in the prevalence of rail RCF, thereby increasing rail maintenance costs. The aim of this study is to develop an approach to reduce rail RCF on South Africa’s iron ore export line b
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17

Geamanu, Marcel-Stefan. "Estimation and dynamic longitudinal control of an electric vehicle with in-wheel electric motors." Phd thesis, Université Paris Sud - Paris XI, 2013. http://tel.archives-ouvertes.fr/tel-00871231.

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The main objective of the present thesis focuses on the integration of the in-wheel electric motors into the conception and control of road vehicles. The present thesis is the subject of the grant 186-654 (2010-2013) between the Laboratory of Signals and Systems (L2S-CNRS) and the French Institute of Petrol and New Energies (IFPEN). The thesis work has originally started from a vehicular electrification project, equipped with in-wheel electric motors at the rear axle, to obtain a full electric urban use and a standard extra-urban use with energy recovery at the rear axle in braking phases. The
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18

Dadhich, Siddharth. "Assisted Tele-Remote Control of Wheel Loaders in Underground Mining." Licentiate thesis, Luleå tekniska universitet, Institutionen för system- och rymdteknik, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-59506.

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Tele-remote operation of mobile earth-moving machines in underground mines supported byoperator assistance functions is attractive for safety and productivity reasons. This way, operatorscan avoid hazardous underground environments with poor air quality and the productivitycan, in principle, be improved by saving the time required to commute drivers to and fromthe operational areas. The infrastructure needed to do tele-remote control in the form of highcapacitywireless IP networks is nowadays being deployed in underground mines. In mineswith sufficiently high ceilings, wheel loaders are used i
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19

Plantenberg, Detlef Holger. "Adaptive motion control for a four wheel steered mobile robot." Thesis, Nottingham Trent University, 2000. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.341262.

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For adaptive motion control of an autonomous vehicle, operating in a generally structured environment, position and velocity feedback are required to ascertain the vehicle location relative to a reference. Whilst the literature offers techniques for guiding vehicles along external references, autonomous vehicles should be able to navigate between despatch locations without the need to rely on external guidance systems. Considerations of the vehicle stability and manoeuvrability favour a vehicle design with four independently steered wheels. A new motion control methodology has been proposed wh
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20

El-Bayoumi, Mahmoud Attia M. "Wheel speed distribution control and its effect on vehicle handling." Thesis, University of Leeds, 2007. http://etheses.whiterose.ac.uk/641/.

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The current work aims at bridging the gap between the current vehicle handling characteristics and the future demands of higher vehicle handling performance, required to guarantee higher safety and facilitate the application of autonomous driving, platooning and automated highways systems. For this task a state 'of the art vehicle chassis control system known as "Wheel Speed Distribution Control" (WSDC) has been proposed. WSDC in principle relies on controlling the vehicle driven wheel speeds to enforce better vehicle handling performance. The WSDC system capacity has been investigated using n
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21

Safi, Samghabadi Pedram. "Kinematic analysis and control design of a retractable wheel mechanism using optimal control theory." Thesis, California State University, Long Beach, 2014. http://pqdtopen.proquest.com/#viewpdf?dispub=1527340.

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<p> Mobile robots are un-manned systems and must be able to overcome the obstacles they face without human intervention. In this research we have proposed a novel retractable mechanism which converts a linear hydraulic motion into expansion of six claws at each wheel. In order to control the expansion, optimal control theory was applied and a constrained optimization problem was defined using different Simulink toolboxes and applied to the mechanism modeled in SimHydraulics/SimMechanics. The main benefit of performing both hydraulic and mechanical system simulation and also control design in t
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22

Jackson, Andrew Edward. "Intelligent mobility control of a hybrid electric off-road vehicle with individual wheel control." Thesis, University of Leeds, 2003. http://etheses.whiterose.ac.uk/270/.

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This work focuses on the potential benefits that can be gained from the use of Individual Wheel Control on a large off-road vehicle. The vehicle concerned is a theoretical, six-wheel drive, off-road Hybrid-Electric Vehicle based on an existing conventional six-wheel-drive Combat Support Vehicle developed by QinetiQ (formerly DERA). The proposed vehicle utilises Individual Wheel Control through the use of six, in-wheel, Hub Mounted Electric Drives. A novel intelligent mobility control system is developed to fully exploit the capability that this configuration offers. Initially, simplified vehic
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23

Gandhi, Yogesh. "Motion planning and control for Differential Drive Wheel Mobile Robot (DDWMR)." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2017.

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This thesis proposes algorithms for motion planning to navigate robot in cluttered environment and a robust velocity-based tracking controller for Differential Drive Wheel Mobile Robot (DDWMR). First, the thesis presents, an offline A* path planning algorithm is used to find sequence of optimal waypoints in a two-dimensional occupancy grid also taking in account obstacle avoidance minimum distance criteria and using these waypoints, reference trajectory is generated based on the constraints on DDWMR. Second, the design of online non-linear back-stepping tracking controller for DDWMR, based
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24

Gunnarsson, Daniel, and Emanuel Strid. "Implementation of a Pump Control System for a Wheel Loader Application." Thesis, Linköping University, Department of Management and Engineering, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-15941.

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<p>A lot of today’s new developments strive for energy efficiency. This includes the hydraulic side of industry. The Division of Fluid andMechanical Engineering Systems of Linköpings University in collaboration with Volvo Construction Equipment in Eskilstuna has developed a newhydraulic concept when it comes to the control of cylinder loads in a wheel loader. The concept differs from today’s application, where the cylinderload is controlled via a valve, in the way that the load is solely controlled by a pump. To control this system, an electrical feed back of operatorsdemanded signal is needed
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25

Hajihosseinlu, Amin. "Traction control of an electric vehicle with four in-wheel motors." IEEE, 2015. http://hdl.handle.net/1993/30601.

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This thesis evaluates an electric vehicle with four independently-controlled in-wheel electric motors. The electric vehicle investigated in this work requires a main con- troller that not only coordinates with each individual motor drive controller, but is also needed to distribute torque and power to each in-wheel motor. The controller adjusts the speed of each motor to the driving conditions according to the require- ments and emulates the behavior of a mechanical di erential. Then, in addition to the electronic di erential controller, a simple yet robust control strategy for maximiz-
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26

FREITAS, DANIEL ZACARIAS. "EFFICIENCY ANALYSIS AND CONTROL OF AN INTEGRATED IN-WHEEL ELECTRIC MOTOR." PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 2015. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=26373@1.

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PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO<br>COORDENAÇÃO DE APERFEIÇOAMENTO DO PESSOAL DE ENSINO SUPERIOR<br>PROGRAMA DE EXCELENCIA ACADEMICA<br>Esta dissertação apresenta o estudo para o desenvolvimento de um powertrain elétrico com motorização independente na massa não suspensa do veículo, acoplado diretamente nas rodas In Wheel ou Hub-Motor . O desenvolvimento do sistema proposto visa à maximização da eficiência dos veículos elétricos pela minimização das perdas relacionadas a sistemas mecânicos, como na transmissão convencional utilizada em veículos com motorização única. Outro
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27

Jailani, Rozita. "Analysis and control of FES-assisted paraplegic walking with wheel walker." Thesis, University of Sheffield, 2011. http://etheses.whiterose.ac.uk/14989/.

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The number of people with spinal cord injury (SCI) is increasing every year and walking has been found to be the most exciting and important prospect to these patients to improve their quality of life. Many individuals with incomplete SCI have the potential to walk and everyone of them wants to try. Unfortunately up to now, there is less than one third of patients could walk again after SCI. Residual function, the orthotic support, energy expenditure, patient motivation and control technique are some of the factors that influence the walking outcome of spinal cord injured people. In this thesi
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28

Hua, Cheyenne D. "Modeling and control of a four wheel drive Formula SAE car." Thesis, Massachusetts Institute of Technology, 2019. https://hdl.handle.net/1721.1/123291.

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Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2019<br>Cataloged from PDF version of thesis.<br>Includes bibliographical references (page 42).<br>Formula SAE is a collegiate design competition in which student teams design, build, and race an electric formula racecar every year. In 2019, the MIT team built its first four wheel drive vehicle. The new architecture requires more robust and performant control systems. One major challenge is that the vehicle is not functional for the majority of the year. A longitudinal vehicle simulation was written and
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29

Klindworth, Karl. "Dynamic Modelling for the Path Tracking Control of a Four-Wheel Independent-Drive, Four-Wheel Independent-Steer Autonomous Ground Vehicle." Thesis, North Dakota State University, 2017. https://hdl.handle.net/10365/28655.

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Robots that can be reconfigured to perform more than one task would be to consumers. The Four-Wheel Independent-Drive, Four-Wheel Independent-Steer (4WD4WS) robot is well suited for the role of reconfigurable robot due to its extremely high maneuverability and torque control. However, the nonlinear dynamics in conjunction with complex kinematic constraints make the 4WD4WS structure an extremely difficult control problem. As a result of this many who model the 4WD4WS structure make simplifications that aren?t realistic for a reconfigurable consumer robot. A 4WD4WS robot is kinematically and dyn
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30

Neves, Gabriel Pereira das. "Modeling, construction and control of a self-balancing unicycle." Universidade de São Paulo, 2017. http://www.teses.usp.br/teses/disponiveis/3/3139/tde-07112017-082249/.

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In this work, a unicycle system with reaction wheel is presented, considering the construction, the modeling, the design and test of the controllers. Firstly, a mechanical model considering a tridimensional computer aided design (3D CAD) is built in order to assist the construction and, after that, the modeling using the Lagrange method. In this work, linear controllers are designed and, therefore, the linearization of the system is done by the Jacobian, that is, assuming small variations around the equilibrium point. In this situation, there is no coupling between the pitch and the roll angle
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31

Refvem, Charles T. "Design, Modeling and Control of a Two-wheel Balancing Robot Driven by BLDC Motors." DigitalCommons@CalPoly, 2019. https://digitalcommons.calpoly.edu/theses/2110.

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The focus of this document is on the design, modeling, and control of a self-balancing two wheel robot, hereafter referred to as the balance bot, driven by independent brushless DC (BLDC) motors. The balance bot frame is composed of stacked layers allowing a lightweight, modular, and rigid mechanical design. The robot is actuated by a pair of brushless DC motors equipped with Hall effect sensors and encoders allowing determination of the angle and angular velocity of each wheel. Absolute orientation measurement is accomplished using a full 9-axis IMU consisting of a 3-axis gyroscope, a 3-axis
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32

Abbott, Michael Shawn. "Kinematics, Dynamics and Control of Single-Axle, Two-Wheel Vehicles (Biplanar Bicycles)." Thesis, Virginia Tech, 2000. http://hdl.handle.net/10919/31702.

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A two-wheeled, single-axle, differentially driven vehicle possesses many salient advantages when compared to traditional vehicle designs. In particular, high traction factor, zero turn radius, and inherent static and dynamic stability are characteristics of this configuration. Drive torque is provided via a swinging reaction mass hanging below the axle. While mechanically simple, the resulting nonlinear vehicle dynamics can be quite complex. Additional design challenges arise if non-pendulating platforms or hardware mounts are required. Ultimately, this vehicle class has great potential i
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Li, Chen. "A simple and low cost anti-lock braking system control method using in-wheel force sensor and wheel angular speed sensor." Thesis, Coventry University, 2017. http://curve.coventry.ac.uk/open/items/aebcb301-fec5-4684-945c-020817157509/1.

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The ABS (Anti-lock Braking System) is an active safety system that is designed for emergency braking situations. In an emergency braking scenario, the ABS instructs the disk-pad braking force to achieve the maximum available tyre-road braking force without locking the wheels. The maximum available tyre-road braking force helps to achieve the optimal braking distance, while the rotating wheels allow the vehicle to retain directional control capability, which allows the driver to avoid dangerous obstacles during an emergency braking scenario. This research has delivered a new and novel approach
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Zhang, Guoguang. "Fault Estimation and Fault-tolerant Control for In-wheel Motor Electric Vehicles." The Ohio State University, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=osu1500421425793541.

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WEN, CHAO-YUAN, and 溫兆源. "Control of single spherical wheel robot driven by omni wheels." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/02545169972589006627.

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碩士<br>中華大學<br>電機工程學系碩士班<br>99<br>This thesis mainly discusses the control of a spherical robot using Omni wheels to drive a spherical wheel. The dynamical model is derived from Euler Lagrange approach. Therefore, seven different control methods are presented which can achieve a constant speed at a vertical balance altitude. The proposed control methods can be categorized into two algorithms. The first algorithm is the variable structure system control (VSSC) in which the time needed to enter the sliding surface or to reach the stable point can be adjusted by parameters. The second one is the n
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Lu, Jun-Ming, and 呂俊明. "Ball and Wheel System Balance Control." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/43930864635802796390.

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碩士<br>國立成功大學<br>工程科學系碩博士班<br>91<br>The ball and wheel system is an unstable nonlinear system. The mechanism of this system is not complicated. Because of this, this system provides a platform for verifying the effectiveness of different control schemes .This system is consist of a ball on the wheel. The feedback signal is provided by a photo sensor which detects the angle of the ball. The control objective is to control a DC motor to drive the wheel to keep the ball staying on the wheel. In this thesis , it is shown how to build up a ball and wheel system. Then the mathematical model of this s
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Tsai, Chiao-Lun, and 蔡僑倫. "DSP-based balance and two-wheel synchronous control for two-wheel robot." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/25993947953563620441.

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碩士<br>國立中央大學<br>電機工程研究所<br>92<br>Two-wheel robot system is a self-balance two-wheel robot car, we can control it self-balance, going forward and backward, making a turn and fixed position. DSP F2812 is the control center of the two-wheel-robot system, which includes fuzzy control algorithm, motor servo control, A/D converter, analog filter, digital filter, and wireless transmission module etc. In the system, the sensors tilt and gyro are used to measure inclination angle and angle velocity of the robot. Analog low-pass filter and digital filter process the above two signals to be usable. We us
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WANG, YEN-HSIANG, and 王彥翔. "Cascade sliding mode control of a spherical wheel robot driven by Omni wheels." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/44545874372348657697.

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碩士<br>中華大學<br>電機工程學系碩士班<br>100<br>The target of the thesis is a spherical robot using Omni wheels to drive a spherical wheel, and its position control based on the cascade sliding model control (CSMC) has been studied. The dynamical model of the spherical robot is derived based on the Euler Lagrange approach. The structure of the CSMC is cascade combination of states of this dynamic model and a series of sliding surfaces. The state or time periodic switching imposed on the combination of the sliding surface coefficient to ensure the convergence of the model states. Because the cascade sliding
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Huang, Ying-ruei, and 黃盈瑞. "Development and Traction Control of Front-wheel Drive In-wheel Motor Electric Vehicles." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/65565605896637143344.

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碩士<br>國立臺南大學<br>綠色能源科技研究所碩士班<br>100<br>The paper proposed the development and traction control system (TCS) of a front-wheel drive electric vehicle (EV). Two in-wheel motors were utilized in the system to construct a power-scattered EV. The permanent magnet servo motor can individually control the motor power output and immediately limit the torque individual. This paper imposed the maximum transmission torque estimation (MTTE) system as the core of TCS for preventing the vehicle skid. The control algorithm is embedded in a high speed microprocessor, which can real-timely monitor feedback sign
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Ling, Chau-Shiung, and 凌朝雄. "Nonlinear Control of the Inertia Wheel Pendulum." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/fa424w.

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碩士<br>國立成功大學<br>工程科學系碩博士班<br>92<br>The inertia wheel pendulum system is an unstable nonlinear system. The mechanism of this system is not complicated. Because of this, this system provides a platform for verifying the effectiveness of different control schemes. In this thesis, it is first shown how to build up an inertia wheel pendulum system. This system includes an armature controlled DC motor, a wheel, a pendulum, and an optical rotary encoder. Then the mathematical model of the inertia wheel pendulum system is derived and also the DC motor model is built. The system identification method i
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41

Lin, Chun-Huei, and 林春輝. "Steering Control of Four Wheel Independent Vehicle." Thesis, 1993. http://ndltd.ncl.edu.tw/handle/10469690564419369198.

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碩士<br>國立臺灣大學<br>機械工程研究所<br>81<br>Since 1960''s , the four wheel steering (4WS) idea has been first Introduced. Many researchs about vehicle behavior focus on the new steering concept and many reports prove that the system of 4WS is not only better in stability but also has better steer- ing performance than the traditional front wheel steering (FWS) vehicle. This research will use the 4WS system in the vehicle model with four wheel independent suspension and also consider that the mass cent
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Hung, Yi-Tein, and 洪屹廷. "Control Design for Two-Wheel Vehicle Motion." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/36h9jc.

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43

Tseng, Wei-Tung, and 曾威棟. "In-Wheel Motor Control of Electric Vehicle." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/8g4ez7.

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碩士<br>國立臺北科技大學<br>車輛工程系所<br>97<br>In recent years, the environmental protection problems such as pollution, limited crude oil resources, and drastic rises in fossil fuel prices are great challenges for the new generation of automotive development. Therefore, a lot of researches and development activities are focused on electric vehicles research. The new generation of electric vehicles driven technology is motor installed inside the wheel. The brake system and drive system was integrated with the wheel motor control technology. For such driving technology, the wheel motor output torque is rela
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44

CAI, BING-JUN, and 蔡秉均. "Implementation and Design of Bicycle Front Wheel Suspension Control and Wheel Arc LED Display." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/q9xnnr.

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碩士<br>建國科技大學<br>電子工程系暨研究所<br>106<br>This paper is mainly designed and produced a set of adjustable front fork shock absorber, when the off-road bicycle behavior of different roads, can be adjusted to the damper to achieve riding comfort, the other is the use of human visual retention phenomenon, dynamic scanning led mode, the LED display device in the bicycle wheel frame, so that when walking through the road, Produces the image and the text display effect. The first part of this thesis is to develop a set of bicycle front-wheel suspension control device to adjust the damping coefficient of th
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Luo, Zhitong. "Sliding mode control of the reaction wheel pendulum." Thesis, 2014. http://hdl.handle.net/2152/28280.

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The Reaction Wheel Pendulum (RWP) is an interesting nonlinear system. A prototypical control problem for the RWP is to stabilize it around the upright position starting from the bottom, which is generally divided into at least 2 phases: (1) Swing-up phase: where the pendulum is swung up and moves toward the upright position. (2) Stabilization phase: here, the pendulum is controlled to be balanced around the upright position. Previous studies mainly focused on an energy method in swing-up phase and a linearization method in stabilization phase. However, several limitations exist. The energy m
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Su-MingHsiao and 蕭書銘. "Localization and Control Applications of a Four-Wheel Steering and Four-Wheel Drive Mobile Robot." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/55456944973112209543.

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Wang, Pei-Lin, and 王培霖. "DSP based motion control for two-wheel robot." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/20796403789946308633.

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碩士<br>國立中央大學<br>電機工程研究所<br>92<br>Two-wheel robot system is a self-balance two-wheel robot car, we can control it self-balance, going forward and backward, making a turn and fixed position. DSP F2812 is the control center of the two-wheel-robot system, which includes fuzzy control algorithm, motor servo control, A/D converter, analog filter, digital filter, and wireless modem etc. In the system, the sensors tilt and gyro are used to measure inclination angle and angle velocity of the robot. Analog low-pass filter and digital filter process the above two signals to be usable. We use encoder to m
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48

Tsay, Wen-Terng, and 蔡文騰. "Guidance Control of a Front Wheel Driven Vehicle." Thesis, 1996. http://ndltd.ncl.edu.tw/handle/73341210548747201569.

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碩士<br>國立臺灣科技大學<br>機械工程研究所<br>84<br>Traditionally,inertial navigation has been used extensively in vehicle positioning.Recently,the development of GPS positioning has provided free and accurate absolute position information. However,GPS also has large position errors and is subjected to signal available problem for land vehicle applications.On the other hand,INS provides autonomous and continuous position information.However,its position errors are accumulative.The integration of GPS and INS
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Ming-Chun, Chen, and 陳明駿. "Dynamic Modeling and Analysis of Rear-Wheel Driving Four-Wheel Vehicle for Constant Velocity Lateral Control." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/28187461438859352681.

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碩士<br>國立臺灣科技大學<br>機械工程系<br>91<br>Abstract The vehicle models used in many researchs were assumed linear; the results are therefore restricted. In order to have broader extension of the theories, nonlinear model is necessary. In this thesis a lot of attentions are paid to the construction and analysis of the model and the thesis are divided into four parts. First part is the construction of vehicle model, and both linear and nonlinear model will be introduced. Furthermore, we used front wheel steering angle feedforward to build up the nonlinear vehicle model. Second Part
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50

Gu, Andy, and 顧耀宏. "Design and Control of a Personal Self-balancing Two-wheel Scooter Design and Control of a Personal Self-balancing Two-wheel Scooter." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/50552729588398985748.

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碩士<br>國立中興大學<br>電機工程學系<br>93<br>This thesis develops techniques for system design, modeling and control of a personal self-balancing two-wheel scooter driven by two DC servomotors. The design attempts to construct a low-cost human transporter using low-tech commercial components. A mechatronic system structure for the vehicle is described and its mathematical modeling incorporating with the fiction between the wheels and motion surfaces is derived. The overall system can be divided into two subsystems: rotation subsystem and inverted pendulum subsystem. Two control methods are used to maintai
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