Journal articles: 'Wheel control'

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Chugo, Daisuke, Kuniaki Kawabata, Hayato Kaetsu, Hajime Asama, and Taketoshi Mishima. "Configuration-Based Wheel Control for Step-Climbing Vehicle." Journal of Robotics and Mechatronics 19, no. 1 (2007): 52–59. http://dx.doi.org/10.20965/jrm.2007.p0052.

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We propose a derivation of adaptable wheel rotation velocity for negotiating irregular terrain based on vehicle configuration. We developed a holonomic vehicle capable of negotiating steps and running around omnidirectionally on a flat floor using seven special wheels and two passive links. Each wheel has its actuator, requiring that the rotation velocity of individual wheels be coordinated, which is difficult due to changes rotation speed when the passive link negotiates the irregular terrain. Unstable rotation velocity calculated without considering the vehicle configuration causes wheel slippage and rotation error that adversely affect mobility on rough terrain. Because conventional general traction control cannot coordinate wheel velocity, we propose reference derivation that does so based on the vehicle configuration. In the sections that follow, we focus on (1) the derivation of individual wheel velocity during step climbing and (2) adaptation to wheel control reference while balancing rotation velocity among wheels. We confirm the feasibility of our proposal in experiments using our vehicle prototype.

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Fu, Xiang, Yong He, and Di Xu. "Research of Electric Differential Control for Motor-Wheel-Drive Electric Vehicle." Applied Mechanics and Materials 310 (February 2013): 540–43. http://dx.doi.org/10.4028/www.scientific.net/amm.310.540.

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The Electric Differential Control for Motor-Wheel-Drive Electric Vehicle is discussed. And then the self-regulation method to realize the electric differential by controlling the torque of the motor and freeing the speed of the wheels has been proposed. Firstly, tire-road dynamics modeling has been established, Control system of Motor-Wheel-Drive Electric Vehicle has been designed. Secondly, simulation platform of Motor-Wheel-Drive Electric Vehicle has been established. Lastly, simulation for electric differential control of Motor-Wheel-Drive Electric Vehicle has been validated. The simulation results show that the self-regulation method by controlling the torque of the motor and freeing the speed of the wheels is effective. Each wheel speed and the corresponding wheel speed automatically keep coordination; it can realize the self-regulation differential, no wheel slipping or sliding phenomenon.

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Sharma, Deepti Mehta, Nitin Choubisa, Pratik Singhal, and Prabhjot Singh. "STEERING INTO THE FUTURE: EXPLORING THE POTENTIAL OF FOUR-WHEEL CONTROL SYSTEMS." International Journal of Technical Research & Science 9, Spl (2024): 27–35. http://dx.doi.org/10.30780/specialissue-iset-2024/032.

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Nowadays, most existing vehicles use the two-wheel steering system to control the movement of the vehicle whether it is a front-wheel drive, rear-wheel drive, or all-wheel drive. But due to the awareness of safety, four-wheel steering vehicles are being used increasingly, since they are also known for their high performance and stability. In standard two-wheel steering vehicles, the rear wheels do not play any role in association with the steering and follow the path of the front wheels. In four-wheeled steering, the wheels can be rotated either left or right as per the requirements. The rear wheels can be rotated in the same direction as the front or in the opposite direction. The four-wheel system is designed to function in 3 modes namely, in-phase rotation, counter-phase rotation, and zero rotation. The steering systems are designed to give the best control designed for the vehicle. The vehicles are designed with steering control to the front wheels or in certain cases steering control is given to the rear wheels. The dual axle steering system shows the working of the different motions of wheels concerning various turning arrangements. The machine consists of 3 different steering arrangements i.e., neutral phase, negative phase & positive phase. In the neutral phase only the front wheels either run in the right or left direction and the rear wheel is the follower of the front wheels. In the negative phase, both front and rear axles move in the opposite direction relative to each other. In the positive phase, both the axle front and rear move in the same direction relative to each other. Here we need to lift the shifter and place it into the respective slot for the required motion.

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Hu, Jian Jun, Zheng Bin He, Peng Ge, and Da Tong Qin. "Research on Control Strategy of Traction Control for Four Wheel Drive Vehicle." Advanced Materials Research 230-232 (May 2011): 1242–49. http://dx.doi.org/10.4028/www.scientific.net/amr.230-232.1242.

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In order to improve the performance of four wheel driver vehicle, structural characteristics of inter-axle torque distribution with planetary gear are analyzed, and a dynamic model of four wheel drive vehicle is established. A synthetic control strategy was proposed to achieve the engine throttle control, inter-axle torque distribution control and drive wheel brake control. Traction control system based on fuzzy logic control is designed. The simulation of traction control on split-µ road and low-µ road are carried out. The results show that, the traction control system for four wheel drive vehicle based on fuzzy control can prevent excessive slip of driving wheels, and vehicle traction property and dynamic performance are improved obviously.

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Li, Yun Feng, Xiao Yun Feng, and Rui Kuo Liu. "Maximum Adhesion Control of Railway Based on Sliding Mode Control System." Advanced Materials Research 383-390 (November 2011): 5242–49. http://dx.doi.org/10.4028/www.scientific.net/amr.383-390.5242.

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The wheels will idle when the relative slipping speed between the wheel and rail exceeds the reference slipping speed. In order to avoid this phenomenon, the simplified model of wheel-rail traction torque transmission was established. And the adhesion coefficient and vehicle velocity are got through the disturbance observer. Then the recursive least squares method was used to forecast the slope of the adhesion-slip curve. Sliding variable structure controller was used to control the error of wheel velocity and reference velocity. From the results of simulation, this method can be effective to maintain the adhesion coefficient around the maximum. And the slipping speed approached the reference value, so the damage for wheel and rail was effectively prevented which achieved the desired effect.

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Kushwaha, Atul Kumar. "Design and Fabrication of Four Mode in Four-Wheeler Steering Mechanism." International Journal for Research in Applied Science and Engineering Technology 13, no. 4 (2025): 5955–87. https://doi.org/10.22214/ijraset.2025.69452.

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Abstract: Nowadays, the every vehicle existed mostly still using the two wheel steering system to control the movement of the vehicle whether it is front wheel drive, rear wheel drive or all-wheel drive. But due to the awareness of safety, four wheel steering vehicles are being used increasingly due to high performance and stability that they bring to the vehicles. In this report, the performance of four wheels steered vehicle model is considered which is optimally controlled duringalanechangemaneuverinthreetypeofconditionwhichislowspeed maneuver, medium speed maneuver and high speed maneuver. Four-Wheel Steering – Rear Wheels Control. For parking and low-speed maneuvers, the rear Wheel steer in the opposite direction of the front wheels, allowing much sharper turns.

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Hashimoto, Masafumi, Fuminori Oba, and Toru Eguchi. "Control of an Omnidirectional Vehicle with Multiple Modular Steerable Drive Wheels." Journal of Robotics and Mechatronics 11, no. 1 (1999): 2–12. http://dx.doi.org/10.20965/jrm.1999.p0002.

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This paper presents a method for controlling an omnidirectional vehicle with multiple modular steerable drive wheels. Each wheel module has two independent drive wheels and a two-degree-of-freedom (2DOF) attachment consisting of an active prismatic joint and a free rotary joint. The attachment enables the wheel module under nonholonomic constraint to move the chassis better omnidirectionally. A controller consisting of vehicle-level and wheel-module controllers is designed to coordinate wheel modules to ensure correct vehicle movement. The vehicle-level controller determines the desired acceleration of the vehicle chassis to track its reference path, and each wheel-module controller controls its own actuator movement to generate the desired acceleration. If the prismatic joint on the wheel module approaches its mechanical limit, the vehicle-level controller corrects the acceleration to keep the joint position within the workspace. Simulation of a vehicle with four wheel modules confirmed the effectiveness of the proposed control.

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Li, Xue Kun, Sebastian Wolf, Geng Zhi, and Yi Ming(Kevin) Rong. "The Modelling and Analysis of Topographical Properties with the ‘through-the-Process’ Grinding Wheel Model." Key Engineering Materials 589-590 (October 2013): 215–20. http://dx.doi.org/10.4028/www.scientific.net/kem.589-590.215.

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The single layer superabrasive wheels are made by joining all abrasive grains onto the wheel hub by electroplating or brazing. Recently, the attention has risen to acquire better grinding quality through more stringent grain size control. For the size grain control process, the abrasive grains are re-meshed for smaller dimensional derivation after outsourced from external grain manufacturers. Therefore, the understanding of correlation between the grain dimensional deviations with the wheel performances will be critical for the wheel design and optimization. In this paper, the ‘through the process’ grinding wheel model is developed for single layer CBN wheels by simulating each wheel fabrication procedure numerically. The effectiveness of the wheel model is verified by comparing with the experimental measurement, which proves the efficacy of the wheel model and could further provide the quantitative basis for grinding wheel quality control and process design.

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Zhu, Chuan Qi, Sen Wu, and Yun Zhen Yang. "Research on Electronic Differential Speed Control for In-Wheel Motor Drive Electric Vehicle." Applied Mechanics and Materials 525 (February 2014): 337–41. http://dx.doi.org/10.4028/www.scientific.net/amm.525.337.

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The paper studies control strategy of electronic differential for four in-wheel motors independent drive vehicle. For the in-wheel motor independent drive electric vehicle, the differential speed relationship among the two wheels is analyzed according to the Ackermann&Jeantand steering mode, building the steering differential speed mode which adapt to bench test. When a vehicle drives on a straight line, the speed of each drive wheel is equal. While on a curve, the speed between the inner wheel and the outer one must be different in order to maintain vehicle stability and avoid vehicle skid. The all wheels must meet the requirement of angular speed. Based on Matlab/Simulink software , As a input, vehicle structure parameter, steering angular and so on, this model of differential speed was structured, drive wheel differential speed relationship at different steering wheel angles was determined .Finally, this electronic differential speed control for in-wheel motor drive electric vehicle is validated through PID control closed loops bench simulation test .

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10

Kokkinen, Pasi. "Smarter Hydraulic Control." Industrial Vehicle Technology International 27, no. 3 (2019): 100–104. http://dx.doi.org/10.12968/s1471-115x(23)70315-2.

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Zheng, Jin Jun, Chuan Xue Song, and Jian Hua Li. "The Control Strategy of Yaw Moment for Rear Electric Motor Drive Vehicle." Applied Mechanics and Materials 740 (March 2015): 175–79. http://dx.doi.org/10.4028/www.scientific.net/amm.740.175.

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With the maturing of in-wheel motor technology, Control on vehicle longitudinal and lateral stability have a rapid development, vehicle with in-wheel motor have also made considerable progress. The paper conducts a study on control strategy of electric vehicle with two in-wheel motors mounted on rear wheels. Yaw moment adopt target following algorithm based on two degrees of model of monorail and study the allocation of torque on two driving wheels. The study indicates that ESP control strategy in which yaw moment of left and right wheel is different and the way of allocating torque based on utilization adhesion can improve vehicle handling ability.

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Zhong, Bao Hua. "The Automobile Brake Guards against Holds the Dead (ABS) Laboratory Bench Wheel Hydraulic Pressure Actuation System the Development." Advanced Materials Research 779-780 (September 2013): 1106–9. http://dx.doi.org/10.4028/www.scientific.net/amr.779-780.1106.

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The this article main solution is in the ABS laboratory bench which at present uses the wheel rotational speed uniformity bad and controls the wheel torque difficult question.This system uses 4 oil motors to actuate four independent wheels, used the slide valve to solve the wheel rotational speed uniformity well; Thus through the hydraulic system pressure the control wheel torque, simulates the automobile to apply the brake the effect difference in the different coefficient of adhesion road surface; Uses the hydraulic pressure and the electric appliance dual over-load protection.This article to this laboratory bench wheel hydraulic pressure actuation system structure, the control design plan has conducted the thorough research, its main innovation spot uses hydraulic transmission way actuation wheel revolving.

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Truong, Le Phuong, Huan Liang Tsai Liang Tsai, and Huynh Cao Tuan. "DEVELOPMENT OF DIRECTIONAL ALGORITHM FOR THREE-WHEEL OMNIDIRECTIONAL AUTONOMOUS MOBILE ROBOT." Vietnam Journal of Science and Technology 59, no. 3 (2021): 345. http://dx.doi.org/10.15625/2525-2518/59/3/15583.

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A The proposed system developed an omnidirectional algorithm to control autonomous mobile robots with three wheels. The implementation system consists of three Planet DC motors with rated power of 80 W for three wheels, three encoders for speed feedback, one encoder for distance feedback, and one digital compass sensor for angle feedback. The main system with an STM32F407 microcontroller is designed for directional control of wheels based the signal received from compass sensor and encoder and then controls three subsystems to adjust the steering speed of each wheel. The sub-system is built to control only one DC motor for each wheel with the built-in proportional integral derivative controller (PID) algorithm by an STM32F103 microcontroller. Furthermore, the directional control algorithm is developed for three omnidirectional wheels and a PID algorithm is designed to control the speed of DC motor for each wheel. From the results the proposed system has the advantages: (1) to auto adjust the angle and position; (2) to erase the sensor for tracking line of the automobile robot; (3) cost-effectiveness and high accuracy

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Ryoo, Young-Jae, Dae-Yeong Im, and Hyun-Rok Cha. "Design of Robotic Vehicle for Personal Mobility with Electric-Driven Three-Wheels." International Journal of Humanoid Robotics 13, no. 04 (2016): 1650020. http://dx.doi.org/10.1142/s0219843616500201.

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In this paper, a robotic vehicle for a personal mobility with electric-driven three-wheels is proposed. Before designing the proposed robotics vehicle, omni-directional motions using special wheels, active caster wheels, and active steerable driving wheels are studied. For design of the proposed vehicle, we discuss about active steerable wheel design, and vehicle’s frame design. The omni-directional motion through the digital design exploration of the vehicle using active driving and steering wheel robot technology is examined. As the major mechanical components, an active steerable driving wheel, in-wheel motors, brakes, suspensions, and control systems are described. The design is established by rapid prototyping model of omni-directional motion. The steering geometry and control algorithm for the prototype of the proposed personal mobility are experimented.

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Sunusi, Idris Idris, Jun Zhou, Chenyang Sun, Zhenzhen Wang, Jianlei Zhao, and Yongshuan Wu. "Development of Online Adaptive Traction Control for Electric Robotic Tractors." Energies 14, no. 12 (2021): 3394. http://dx.doi.org/10.3390/en14123394.

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Estimation and control of wheel slip is a critical consideration in preventing loss of traction, minimizing power consumptions, and reducing soil disturbance. An approach to wheel slip estimation and control, which is robust to sensor noises and modeling imperfection, has been investigated in this study. The proposed method uses a simplified form of wheels longitudinal dynamic and the measurement of wheel and vehicle speeds to estimate and control the optimum slip. The longitudinal wheel forces were estimated using a robust sliding mode observer. A straightforward and simple interpolation method, which involves the use of Burckhardt tire model, instantaneous values of wheel slip, and the estimate of longitudinal force, was used to determine the optimum slip ratio that guarantees maximum friction coefficient between the wheel and the road surface. An integral sliding mode control strategy was also developed to force the wheel slip to track the desired optimum value. The algorithm was tested in Matlab/Simulink environment and later implemented on an autonomous electric vehicle test platform developed by the Nanjing agricultural university. Results from simulation and field tests on surfaces with different friction coefficients (μ) have proved that the algorithm can detect an abrupt change in terrain friction coefficient; it can also estimate and track the optimum slip. More so, the result has shown that the algorithm is robust to bounded variations on the weight on the wheels and rolling resistance. During simulation and field test, the system reduced the slip from non-optimal values of about 0.8 to optimal values of less than 0.2. The algorithm achieved a reduction in slip ratio by reducing the torque delivery to the wheel, which invariably leads to a reduction in wheel velocity.

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Wang, Yan, X. J. Zhou, and De Jin Hu. "Study on Dry Electrical Discharge Assisted Profile Truing and Dressing of Diamond Wheel." Key Engineering Materials 315-316 (July 2006): 701–5. http://dx.doi.org/10.4028/www.scientific.net/kem.315-316.701.

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Both diamond wheel and CBN wheel belong to super-abrasive wheels. Diamond wheels have superior grinding performance. The metal-bonded diamond wheel can grind hard brittle material component with a complicated shape precisely and efficiently. Because dielectric liquid is forbidden on numerical control optical profile grinder, the information on profile truing and dressing diamond wheel mounted on numerical control optical profile grinder is not readily available. In this paper, a novel truing and dressing method, namely dry electrical discharge (dry-ECD) assisted truing and dressing, is proposed. The experiments of dry-ECD assisted profile truing and dressing of diamond wheel are done by the authors. The experimental results show that both geometrical accuracy and surface topography of diamond wheel have attained technical requirement under appropriate truing and dressing conditions. There is not much difference in grinding abilities of new diamond wheel and dry-ECD assisted truing and dressing diamond wheel.

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Pradhan, Smitirupa, A. K. Samantaray, Mohammad Saquib, and Indrajit Singh. "1F32 Forced steering control with estimated wheel wear(Vehicles-Rail/Wheel)." Proceedings of International Symposium on Seed-up and Service Technology for Railway and Maglev Systems : STECH 2015 (2015): _1F32–1_—_1F32–8_. http://dx.doi.org/10.1299/jsmestech.2015._1f32-1_.

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Takahashi, Naoki, and Kenichiro Nonaka. "Model Predictive Leg Configuration Control for Leg/Wheel Mobile Robots that Adapts to Changes in Ground Level." Journal of Robotics and Mechatronics 35, no. 1 (2023): 160–70. http://dx.doi.org/10.20965/jrm.2023.p0160.

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Leg/wheel mobile robots, which have articulated legs ending in a wheel, can walk on legs as well as drive on wheels by switching between those two motive mechanisms in response to the terrain. However, effective control of the redundant degrees of freedom of leg/wheel mobile robots is complex. In this study, we propose a model predictive controller for leg configuration control that achieves both driving along the ground surface and climbing over a step. The proposed method simultaneously optimizes the robot pose, wheel positions, and joint angles. To consider the kinematic configuration of the legs explicitly, we formulate constraints on the relative position between the body and wheels. The ground contact condition of the wheels is approximately expressed as a continuous function with respect to each wheel’s relative position to the ground. This formulation induces smooth lifting of the wheels when the ground level abruptly changes, as when climbing a step. To prevent overturning, we evaluate the load distribution between each grounded wheel and constrain the body position to form a support polygon consisting of the grounded wheels. We conducted numerical simulations to verify that the proposed method achieves both driving on wheels and climbing over a step.

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Chi, Hui, Meng Yan, Zhengqi Xu, Pengfei Xiang, Zijun An, and Huagui Huang. "Analysis on the Quenching Deformation Characteristics of Light Cast Aluminum Alloy Wheels and Their Control Strategies." Metals 13, no. 1 (2023): 128. http://dx.doi.org/10.3390/met13010128.

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The purpose of this paper is to develop a new technology for controlling the quenching deformation of light cast aluminum alloy wheels. First, based on the existing wheel heat treatment process, a gas–liquid–solid multi-phase flow coupling model was established through the ANSYS Workbench platform to analyze the gas–liquid phase change, heat exchange on wheel surface and quenching deformation characteristics during the process of wheel immersion into the water. The results show that heat exchange characteristics of the wheel surface are comprehensively affected by wheel structure, quenching fluid flow field and gas–liquid phase transition. There are a lot of non-uniform heat exchange areas in the outer rim, spoke area and center area, which affect the overall deformation characteristics. Affected by spoke structure, the maximum deformation occurs at the outer and inner rim end faces farthest away from the wheel. Based on the above research, this paper independently develops a new deformation control strategy of spray and water immersion composite step process. Through spraying, the influence of spoke structural stiffness on the overall deformation characteristics of the wheel is effectively reduced, and the wheel deformation control is realized by meeting the mechanical properties of the wheel, with the maximum deformation reduction of 39.2%. This study provides a new option for the integrated control of deformation and mechanical properties of aluminum alloy wheels.

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SU, Jian-qiang. "Anti-slip control research for the electric vehicle of in-wheel motor drive." E3S Web of Conferences 53 (2018): 01017. http://dx.doi.org/10.1051/e3sconf/20185301017.

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In-wheel motor drives electric vehicles are becoming more and more widely used due to their unique advantages. This paper addresses the problem of in-wheel motor drive electric vehicle wheels slipping on low-attached roads. An active disturbance rejection controller is designed to control the inwheel motor torque and prevent the wheel slipping. The co-simulation is carried out between the adams and Matlab, and the results of simulation demonstrated that the controller which can prevent the wheel slipping effectively was perfect. The most important is that the controller can be implemented easily.

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Hou, Shun Yan, Zhi Yuan Li, Tao Wang, Lian Lu Pang, and Zhi Yuan Feng. "Study on Electronic Differential Control for a Mini Electric Vehicle with Dual In-Wheel-Motor Rear Drive." Applied Mechanics and Materials 525 (February 2014): 346–50. http://dx.doi.org/10.4028/www.scientific.net/amm.525.346.

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An electronic differential control system (EDS) has been designed based on a mini electric vehicle (EV) with dual in-wheel-motor rear drive. In view of imperfection of current strategy with speed and moment as control variables, a new control strategy for EDS in a two in-wheel-motor drive EV is proposed with the moment of driving wheel torque as control variable and the slip rate equilibrium of two driving wheels as control objective, considering the effects of axle load transfer. The differential control experiments are conducted with steering mode and straight acceleration mode based on the vehicle prototype. The results show that the control strategy is reasonable, and the controller can effectively realize EV electronic differential by coordinating the moment of two driving wheels.

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Swallow, J. G., P. Koteja, P. A. Carter, and T. Garland. "Artificial selection for increased wheel-running activity in house mice results in decreased body mass at maturity." Journal of Experimental Biology 202, no. 18 (1999): 2513–20. http://dx.doi.org/10.1242/jeb.202.18.2513.

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To test the hypothesis that body size and activity levels are negatively genetically correlated, we conducted an artificial selection experiment for increased voluntary wheel-running activity in house mice (Mus domesticus). Here, we compare body masses of mice from control and selected lines after 14 generations of selection. In both groups, beginning at weaning and then for 8 weeks, we housed half of the individuals with access to running wheels that were free to rotate and the other half with wheels that were locked to prevent rotation. Mice from selected lines were more active than controls at weaning (21 days) and across the experiment (total revolutions during last week: females 2.5-fold higher, males 2.1-fold higher). At weaning, mice from selected and control lines did not differ significantly in body mass. At 79 days of age, mice from selected lines weighed 13.6 % less than mice from control lines, whereas mice with access to free wheels weighed 4.5 % less than ‘sedentary’ individuals; both effects were statistically significant and additive. Within the free-wheel-access group, individual variation in body mass of males was negatively correlated with amount of wheel-running during the last week (P&lt;0.01); for females, the relationship was also negative but not statistically significant (P&gt;0.40). The narrow-sense genetic correlation between wheel-running and body mass after 8 weeks of wheel access was estimated to be −0. 50. A negative genetic correlation could account for the negative relationship between voluntary wheel-running and body mass that has been reported across 13 species of muroid rodents.

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Zhu, Xi, and Jian Guo Song. "The Analysis of 4WD Vehicle Overtaking Based on Electric Wheels." Applied Mechanics and Materials 241-244 (December 2012): 1475–81. http://dx.doi.org/10.4028/www.scientific.net/amm.241-244.1475.

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In order to improve vehicle overtaking performance, the four-wheel driving technology based on electric wheels is analyzed. A four-wheel driving vehicle model has been built with ADAMS software, and the control strategy has been built with Simulink software. The driver steering and speed control model with variable ratio is built. The comparative overtaking simulation of four-wheel driving with and without Direct Yaw Control is processed. With the simulation, it can be found that the centroid yaw-rate of the vehicle with Direct Yaw Control is smaller, and vehicle movement track is closer to target track than the vehicle without DYC. The manipulation performance of vehicle is improved, and the labor intensity of the driver is reduced. This provides a certain amount of theoretical research for the four-wheel driving technology based on electric wheels.

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Bao, Yutong, Changqing Du, Dongmei Wu, Huan Liu, Wei Liu, and Jun Li. "Coordinated Slip Control of Multi-Axle Distributed Drive Vehicle Based on HLQR." Mathematics 11, no. 8 (2023): 1964. http://dx.doi.org/10.3390/math11081964.

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For multi-axle distributed drive (MADD) vehicles, the complexity of the longitudinal dynamics control system increases with the number of driven wheels, which presents a huge challenge to control the multi-motor drive vehicle with more than four wheels. To reduce the control system complexity, this paper proposes a coordinated slip control algorithm using the hierarchical linear quadratic regulator (HLQR) scheme for a 12 × 12 MADD vehicle. The 12-wheel driving system is decoupled based on the wheel load and simplified to a double local subsystem. First, the 12 × 12 MADD vehicle dynamics model is established. Then, the optimal slip ratio is obtained on the basis of the road friction coefficient estimation through a fuzzy control algorithm when the wheel slips. Afterwards, the wheel slip ratio is controlled based on the HLQR program for anti-slip regulation. Furthermore, the driving torque control allocation based on quadratic programming (QR) is coordinated with the anti-slip control. Simulink results show that the proposed coordinated slip control based on HLQR can improve slip control accuracy by more than 30% and greatly reduce the calculation load. The torque control allocation is also limited by the slip control results to ensure wheel dynamic stability and smoothly satisfy the driver’s demand.

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Sekour, M’hamed, Kada Hartani, and Abdelkader Merah. "Electric Vehicle Longitudinal Stability Control Based on a New Multimachine Nonlinear Model Predictive Direct Torque Control." Journal of Advanced Transportation 2017 (2017): 1–19. http://dx.doi.org/10.1155/2017/4125384.

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In order to improve the driving performance and the stability of electric vehicles (EVs), a new multimachine robust control, which realizes the acceleration slip regulation (ASR) and antilock braking system (ABS) functions, based on nonlinear model predictive (NMP) direct torque control (DTC), is proposed for four permanent magnet synchronous in-wheel motors. The in-wheel motor provides more possibilities of wheel control. One of its advantages is that it has low response time and almost instantaneous torque generation. Moreover, it can be independently controlled, enhancing the limits of vehicular control. For an EV equipped with four in-wheel electric motors, an advanced control may be envisaged. Taking advantage of the fast and accurate torque of in-wheel electric motors which is directly transmitted to the wheels, a new approach for longitudinal control realized by ASR and ABS is presented in this paper. In order to achieve a high-performance torque control for EVs, the NMP-DTC strategy is proposed. It uses the fuzzy logic control technique that determines online the accurate values of the weighting factors and generates the optimal switching states that optimize the EV drives’ decision. The simulation results built in Matlab/Simulink indicate that the EV can achieve high-performance vehicle longitudinal stability control.

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He, Zhihang, Wei Wang, Huaping Ruan, et al. "A two-wheel load balance control strategy for an HVTL inspection robot based on second-order sliding-mode." Industrial Robot: the international journal of robotics research and application 46, no. 1 (2019): 83–92. http://dx.doi.org/10.1108/ir-10-2018-0212.

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Purpose Overhead high-voltage transmission line (HVTL) inspection robots are used to inspect the transmission lines and/or maintain the infrastructures of a power transmission grid. One of the most serious problems is that the load on the front wheel is much larger than that on the back one when the robot travels along a sloping earth wire. Thus, ongoing operation of the inspection robot mainly depends on the front wheel motor’s ability. This paper aims to extend continuous operation time of the HVTL inspection robots. Design/methodology/approach By introducing a traction force model, the authors have established a dynamic model of the robot with slip. The total load is evenly distributed to both wheels. According to the traction force model, the desired wheel slip is calculated to achieve the goal of load balance. A wheel slip controller was designed based on second-order sliding-mode control methodology. Findings This controller accomplishes the control objective, such that the actual wheel slip tracks the desired wheel slip. A simulation and experiment verify the feasibility of the load balance control system. These results indicate that the loads on both wheels are generally equal. Originality/value By balancing the loads on both wheels, the inspection robot can travel along the earth wire longer, improving its efficiency.

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Marjani, Seyed Rahim, and Davood Younesian. "Active Vibration Control for the Mitigation of Wheel Squeal Noise Based on a Fuzzy Self-Tuning PID Controller." Shock and Vibration 2022 (July 21, 2022): 1–17. http://dx.doi.org/10.1155/2022/3978230.

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The wheel squeal noise of a train is often made when it passes a tight curve. The noise annoys the passengers and the people living close to railway tracks. According to the research background, wheel vibration, as a result of unstable contact force, is the main source of wheel squeal noise. This study presents a novel method to reduce wheel squeal noise based on the active vibration control of wheels and the use of piezoelectric actuators attached to wheel treads. The proposed method is implemented in an experimentally validated time model involving the linear dynamics of wheel and track and nonlinear contact forces. Then, the model is modified to enhance the effect of the piezoelectric actuators. The relationship between the momentum and the voltage applied to the piezoelectric patch is also considered in modeling. To determine the amplitude and the direction of the applied voltage, a feedback controller is designed based on the fuzzy self-tuning PID controller scheme. This controller is similar to the conventional PID controller, but its coefficients are tuned by the fuzzy tuning mechanism according to the wheel response. The results show that the proposed method is capable of suppressing wheel squeal noise, especially in high frequencies. Furthermore, it is as applicable to worn wheels as to new ones.

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Khollam, Shailesh. "Design and Analysis of Mecanum Wheel for Forklift." International Journal for Research in Applied Science and Engineering Technology 13, no. 3 (2025): 2188–90. https://doi.org/10.22214/ijraset.2025.67750.

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This paper explores the design and analysis of the Mecanum wheel, an advanced omni-directional wheel system that enables vehicles to move in any direction without requiring orientation changes. The design process incorporates careful selection of materials, roller angles, and wheel structure to ensure maximum efficiency, durability, and smooth operation. A comprehensive analysis of the kinematics of Mecanum wheels is conducted, focusing on the relationship between wheel speed and vehicle movement. Simulations are used to evaluate the performance under various conditions, including load-bearing capacity, stability, and maneuverability. The study highlights the challenges in achieving precise control and balance, with recommendations for optimizing wheel design and control algorithms. The results demonstrate that Mecanum wheels significantly enhance vehicle mobility, making them ideal for applications in robotics, automated guided vehicles (AGVs), and material handling systems. Future work will focus on refining the design for improved efficiency and exploring the integration of Mecanum wheels in more complex robotic systems.

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Jia, Zhicheng, Jingfu Jin, Xinju Dong, Yingchun Qi, Meng Zou, and Qingyu Yu. "State Analysis and Emergency Control of Planetary Rover with Faulty Drive Wheel." Aerospace 11, no. 10 (2024): 838. http://dx.doi.org/10.3390/aerospace11100838.

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Wheel failure is one of the worst problems for a planetary rover working on Mars or the Moon, which may lead to the interruption of the exploration mission and even the loss of mobility. In this study, a driving test of a planetary rover prototype with a faulty drive wheel was conducted, and state analysis and dynamics modeling were carried out. The drag motion relationship between the faulty drive wheel and the normal wheels on the same suspension was established based on the targeted single wheel test (faulty wheel-soil bin). In order to maintain the subsequent basic detection capability of the planetary rover, an emergency control system is proposed that integrates the path planning strategy with faulty wheel priority and the motion control method of correcting heading and coordinating allocation. The experimental results and emergency strategies of this study on simulating Martian soil and terrain can provide researchers with ideas to solve such problems.

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Kouame, Yann Olivier Akansie, C. Biradar Rajashekhar, Karthik Rajendra, and D. Devanagavi Geetha. "A triangle decomposition method for the mobility control of mecanum wheel-based robots." IAES International Journal of Artificial Intelligence (IJ-AI) 13, no. 2 (2024): 1326–38. https://doi.org/10.11591/ijai.v13.i2.pp1326-1338.

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Mobile robots are used in a variety of applications including research, education, healthcare, customer service, security and so on. Based upon the application, the robots employ different locomotion systems for their mobility. When it comes to rolling locomotion, the wheels used to provide mobility to robots can be categorized as: tracks, omnidirectional wheels, and unidirectional wheels with a steering system. The ability of omnidirectional wheels to drive machines in small spaces makes them interesting to use. Among the types of omnidirectional wheels, mecanum wheels are widely used due to their inherent benefits. With the right control strategy, robots equipped with mecanum wheels can move freely, in all possible directions. In this study, a triangle decomposition approach is employed for controlling omnidirectional mecanum wheel-based robots. The method consists of breaking down any path into a set of linear motions that can be horizontal, vertical, or oblique. Furthermore, the oblique paths are divided into smaller segments that can be resolved into a horizontal and vertical component in a right-angle triangle. The suggested control method is tested and proved on a simple scenario using Webots simulation software.

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Siravuru, Avinash, Suril V. Shah, and K. Madhava Krishna. "An optimal wheel-torque control on a compliant modular robot for wheel-slip minimization." Robotica 35, no. 2 (2015): 463–82. http://dx.doi.org/10.1017/s0263574715000685.

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SUMMARYThis paper discusses the development of an optimal wheel-torque controller for a compliant modular robot. The wheel actuators are the only actively controllable elements in this robot. For this type of robots, wheel-slip could offer a lot of hindrance while traversing on uneven terrains. Therefore, an effective wheel-torque controller is desired that will also improve the wheel-odometry and minimize power consumption. In this work, an optimal wheel-torque controller is proposed that minimizes the traction-to-normal force ratios of all the wheels at every instant of its motion. This ensures that, at every wheel, the least traction force per unit normal force is applied to maintain static stability and desired wheel speed. The lower this is, in comparison to the actual friction coefficient of the wheel-ground interface, the more margin of slip-free motion the robot can have. This formalism best exploits the redundancy offered by a modularly designed robot. This is the key novelty of this work. Extensive numerical and experimental studies were carried out to validate this controller. The robot was tested on four different surfaces and we report an overall average slip reduction of 44% and mean wheel-torque reduction by 16%.

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Popov, A. V., S. V. Ushnurtsev, and A. V. Keller. "Synthesis of regularities of control of blocking properties of differential transmission mechanisms." Omsk Scientific Bulletin. Series Aviation-Rocket and Power Engineering 7, no. 3 (2023): 62–69. http://dx.doi.org/10.25206/2588-0373-2023-7-3-62-69.

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The analysis of the operating conditions of four-wheel drive vehicles allows us to conclude that they are characterized by a continuously and significantly changing spread of the values of loads falling on the driving wheels, as well as the spread of resistance to movement and wheel adhesion to the bearing surface. In this regard, the degree of blocking of the inter-axle, inter-vehicle and inter-wheel connections should automatically change depending on the driving conditions, providing the car with the maximum reserve of traction forces with the minimum possible rolling resistance.

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Ю. М. Маринич and Ю. М. Гуменюк. "THE INFLUENCE OF PHASE COILS’ INDUCTANCE EFFECT ON REACTION-WHEEL ACCURACY." MECHANICS OF GYROSCOPIC SYSTEMS, no. 26 (December 23, 2013): 49–54. http://dx.doi.org/10.20535/0203-377126201330673.

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Rapid development of space technologies and their entrance to nano-level pulls out new demands for corresponding element base for manufacturing highly effective systems for angular control of the satellites. One of the most wide spread methods of angular stabilization and orientation of the space craft are systems in which reaction wheels are executive parts.While a control loop is being designed the main demand for a reaction wheel is to ensure that external control signal is proportional to created reaction momentum within all the rpm range of reaction wheel rotor.This article is dedicated to provision of control law stability for reaction wheel, built on the base of brushless direct current motor with slotless stator and pulse-duration modulation control with single PDM inverter for all the phases, for wide range of rpm by compensating phase coils’ inductance effect. Introduced approach allows compensating reaction wheel phase coils’ inductance effect on control law with preassigned accuracy and provides proportionality of reaction momentum of reaction-wheel and control signal within all the range of rpm for reaction wheel rotor.

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Sun, Chenyang, Pengfei Sun, Jun Zhou, and Jiawen Mao. "Travel Reduction Control of Distributed Drive Electric Agricultural Vehicles Based on Multi-Information Fusion." Agriculture 12, no. 1 (2022): 70. http://dx.doi.org/10.3390/agriculture12010070.

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In agricultural vehicles with internal combustion engines, owing to the use of rear-wheel drive or four-wheel drive, it is difficult to obtain information regarding the slip of the driving wheels. Excessive wheel slip, an inevitable phenomenon occurring during agricultural activities, can easily damage the original soil surface and result in excessive energy consumption. To solve these problems, a distributed drive agricultural vehicle (DDAV) based on multi-information fusion was proposed. The actual travel reduction of each wheel was calculated by determining the vehicle parameters in order to deliver the required torque to the four drive wheels via sliding mode control (SMC) and incremental proportional-integral (PI) control. Through this process, the vehicle always operates in a straight line. Test results show that, on a uniform surface, the travel reduction of each wheel can be maintained at the target value by using the incremental PI control strategy, with only minor fluctuations, to make the vehicle run in a straight line (R2 = 0.9999). Furthermore, on a separated surface, the travel reduction of each wheel can be maintained at the target value, and using the SMC strategy enables more identical coefficient of gross tractions for each wheel to make the vehicle run in a straight line (R2 = 0.9902). Unlike the non-control strategy, the vehicle reaches a stable state within 1 s, owing to the use of a controller that can effectively reduce the impact of road changes on vehicle velocity. This study can provide a reference for the drive control of DDAVs.

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Podrigalo, Mikhail, Alexandr Polyansky, Yevgen Dubinin, Maxim Krasnokutsky, and Vitaly Lytvyn. "Rational Control of the Turning Dynamics of a Rear-Wheel Drive Vehicle with Motor Wheels." Central Ukrainian Scientific Bulletin. Technical Sciences 2, no. 11(42) (2025): 328–34. https://doi.org/10.32515/2664-262x.2025.11(42).2.328-334.

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The study considers the issue of increasing the controllability of wheeled vehicles, proposes to increase the controllability of a rear-wheel drive vehicle with motor wheels when turning by eliminating the nonlinearity of the “zone of insensitivity” type. Proposed to use the calibrated system with two degrees of freedom, with the possibility of using both kinematic and dynamic turning methods. As a result, an equation is obtained that allows organizing the control of turning a rear-wheel drive vehicle with motor wheels in the absence of a nonlinearity of the “zone of insensitivity” type. To realize the specified turn, it is necessary to measure the vehicle mass, wheel rolling resistance coefficient, average angle of rotation of the guide wheels, position of the vehicle's center of mass, and torques on the rear drive wheels. The results obtained are important for improving the controllability of wheeled vehicles, ensuring the safety and reliability of their operation.

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Lin, Chern-Sheng, Chia-Chang Chang, and Wei-Lung Chen. "DESIGN AND APPLICATION OF AN INTERACTIVE WHEELCHAIR TRAINING SYSTEM." Biomedical Engineering: Applications, Basis and Communications 20, no. 06 (2008): 377–85. http://dx.doi.org/10.4015/s1016237208000982.

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In this paper we constructed an interactive wheelchair rehabilitation training platform. The roller wheel on the platform is driven mainly by turning the wheelchair, and then the relative position of wheelchair on the screen can be adjusted based on the rotation speed of left and right wheels on the platform. Comparing the digital logic function when two wheels rotate at the same time and judging the variance in digital logic, the steering direction of wheels can be known and be controlled forward or backward. Additionally, the standard digital logic function could be individually judged when left wheel rotates and vice versa, so as to control the steering. Through judging three digital logic functions, the initial time of left wheel, next signal selecting time of left wheel, initial time of right wheel, and next signal selecting time of right wheel could be obtained, then the system can achieve the required direction control function through the judgment formula. The direction control function is indicated by standard digital logic function, so that the user can operate smoothly in the interactive situation software and make an interaction with the computer 3D simulation scene, the patient would have rehabilitation training through various 3D simulation real exteriors. This study not only provides basic trainings but also records the service behavior of wheelchair users, so that the rehabilitation consultant would have reference for the future diagnosis.

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Didmanidze, Otari, Alexandr Lavrov, Roman Fedotkin, et al. "Modeling of the curvilinear motion of a vehicle with all steer wheels." E3S Web of Conferences 583 (2024): 05013. http://dx.doi.org/10.1051/e3sconf/202458305013.

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Developed simulation model of the curvilinear motion of the two-axial wheel carrier with all steer wheels. The model includes the motion of the wheel carrier’s center of mass with respect to the moving coordinate system, the matrix of the directional cosines for the transition from a moving to the fixed coordinate system, the bearing and running module for the determination of the reactions in the flat spot of the wheel tire with the bearing surface area, and the mechanism for turning steer wheels. The aim is to study vehicle steerability and dexterity of the two-axial wheel carrier with all steer wheels via modeling in the MATLAB Simulink. Parameters obtained show the application effectiveness of the steering control with all steer wheels for the two-axial wheel carrier. Results obtained can be applied to the constructional design of a vehicles for the determination of the optimal parameters of a steering configuration. Developed simulation model of the vehicle can become a basis for the modeling of vehicles’ motion equipped with the control system of the air pressure in tires, track-type module, adaptive undercarriages with the robotic operating system, etc.

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Yang, Yan Zhu, Wei Liang Liu, and Ru Zhong Yan. "Analysis of the Repairing Wheel Movement for CNC Dressing System of Formed Grinding Wheel." Advanced Materials Research 486 (March 2012): 509–14. http://dx.doi.org/10.4028/www.scientific.net/amr.486.509.

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The movement of repairing wheel is not easy to design for CNC dressing system of formed grinding wheel, especially for complicated shape grinding wheels. The design of control algorithm is depended on the movement of repairing wheel. And the accuracy of the CNC system is also determined by the movement of repairing wheel. A dressing system with three axis simultaneous movement is introduced in this paper. The movement of repairing wheel is analyzed. A design for moving path of repairing wheel is proposed to adapt different kind of formed grinding wheel. And a curve fitting method for profiling of grinding wheel is designed.

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Kaspar, Stephan, Dr Ralf Stroph, Dr Alfred Pruckner, and Prof Dr Sören Hohmann. "Single wheel drives for wheel slip control." World Electric Vehicle Journal 6, no. 1 (2013): 223–29. http://dx.doi.org/10.3390/wevj6010223.

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Tian, Jie, and Mingfei Yang. "Hierarchical control of differential steering for four-in-wheel-motor electric vehicle." PLOS ONE 18, no. 6 (2023): e0285485. http://dx.doi.org/10.1371/journal.pone.0285485.

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The purpose of this paper is to study the control of differential steering for four-in-wheel-motor electric vehicles. The so-called differential steering means that the front wheel steering is realized through the differential driving torque between the left and right front wheels. With the consideration of tire friction circle, a hierarchical control method is proposed to realize the differential steering and the constant longitudinal speed simultaneously. Firstly, the dynamic models of the front wheel differential steering vehicle, the front wheel differential steering system and the reference vehicle are established. Secondly, the hierarchical controller is designed. The upper controller is to obtain the resultant forces and resultant torque required by the front wheel differential steering vehicle tracking the reference model through the sliding mode controller. In the middle controller, the minimum tire load ratio is selected as the objective function. Combined with the constraints, the resultant forces and resultant torque are decomposed into the longitudinal and lateral forces of four wheels by the quadratic programming method. The lower controller provides the required longitudinal forces and tire sideslip angles for the front wheel differential steering vehicle model through the tire inverse model and the longitudinal force superposition scheme. Simulation results show that the hierarchical controller can guarantee the vehicle to track the reference model well on both of the high and low adhesion coefficient road with all of the tire load ratios smaller than 1. It can be drawn that the control strategy proposed in this paper is effective.

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Percy, Andrew, Ian Spark, Yousef Ibrahim, and Leon Hardy. "A numerical control algorithm for navigation of an operator-driven snake-like robot with 4WD-4WS segments." Robotica 29, no. 3 (2010): 471–82. http://dx.doi.org/10.1017/s0263574710000317.

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SUMMARYThis paper presents a new algorithm for the control of a snake-like robot with passive joints and active wheels. Each segment has four autonomously driven and steered wheels. The algorithm approximates the ideal solution in which all wheels on a segment have the same centre of curvature with wheel speeds, providing cooperative redundancy. Each hitch point joining segments traverses the same path, which is determined by an operator, prescribing the path curvature and front hitch speed. The numerical algorithm developed in this paper is simulation tested against a previously derived analytical solution for a predetermined path. Further simulations are carried out to show the effects of changing curvature and front hitch speed on hitch path, wheel angles and wheel speeds for a one, two and three segment robot.

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42

Kim, Yongkuk, and Sangjoo Kwon. "Balancing-Prioritized Anti-Slip Control of a Two-Wheeled Inverted Pendulum Robot Vehicle on Low-Frictional Surfaces with an Acceleration Slip Indicator." Machines 11, no. 5 (2023): 553. http://dx.doi.org/10.3390/machines11050553.

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When a two-wheeled inverted pendulum (TWIP) robot vehicle travels on slippery roads, the occurrence of wheel slip extremely threatens its postural stability owing to the loss of wheel traction. If a severe wheel slip happens between the driving wheels and contact surfaces, no control techniques can guarantee the driving performance and stability of the TWIP robots in the absence of an extra wheel slip control strategy. In this paper, a TWIP-compatible countermeasure against the wheel slip phenomena is investigated for enhancing the reliability of the vehicle and the robustness of the motion control performance on low-frictional surfaces. To this end, we propose a balancing-prioritized anti-slip control method based on the maximum transmissible torque estimation, which is activated only when a wheel slip is detected by the acceleration slip indicator utilizing accessible data from the IMU and wheel encoders. It is proved that the TWIP vehicles applying the proposed method can successfully cope with low frictional surfaces while maintaining postural stability. Finally, comparative simulations and experiments demonstrate the effectiveness and feasibility of the proposed scheme.

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Pliev, I. A., A. M. Saykin, A. V. Arkhipov, and A. A. Akhmedov. "Unified control algorithm for torques delivered to wheels of all-wheel-drive vehicles." Izvestiya MGTU MAMI 6, no. 2-1 (2012): 297–303. http://dx.doi.org/10.17816/2074-0530-68530.

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This paper proposes the unified control algorithm for torques delivered to wheels of all-wheel-drive vehicles with “intellectual” transmission. The algorithm provides the determination of torques delivered to each wheel of multi-axis vehicle with minimal loss of power regarding to road conditions: solid surface or deformable ground. Results of calculations were confirmed by experimental research.

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Shibazaki, K., and H. Nozaki. "Effect of Inner and Outer Wheels Driving Force Control on Small Electric Vehicle." International Journal of Automotive and Mechanical Engineering 17, no. 4 (2020): 8246–54. http://dx.doi.org/10.15282/ijame.17.4.2020.02.0622.

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In this study, in order to improve steering stability during turning, we devised an inner and outer wheel driving force control system that is based on the steering angle and steering angular velocity, and verified its effectiveness via running tests. In the driving force control system based on steering angle, the inner wheel driving force is weakened in proportion to the steering angle during a turn, and the difference in driving force is applied to the inner and outer wheels by strengthening the outer wheel driving force. In the driving force control (based on steering angular velocity), the value obtained by multiplying the driving force constant and the steering angular velocity, that differentiates the driver steering input during turning output as the driving force of the inner and outer wheels. By controlling the driving force of the inner and outer wheels, it reduces the maximum steering angle by 40 deg and it became possible to improve the cornering marginal performance and improve the steering stability at the J-turn. In the pylon slalom it reduces the maximum steering angle by 45 deg and it became possible to improve the responsiveness of the vehicle. Control by steering angle is effective during steady turning, while control by steering angular velocity is effective during sharp turning. The inner and outer wheel driving force control are expected to further improve steering stability.

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Mironov, Aleksander, Pavel Shalupina, Aleksander Pavlyukov, and Ivan Dobychin. "Simulation of wheel heating when drum braking." MATEC Web of Conferences 216 (2018): 03010. http://dx.doi.org/10.1051/matecconf/201821603010.

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Application of heating control systems is rational for effective prevention of thermal-mechanical damages of the wheels and brake shoes of rolling stock. These systems enable to perform diagnosis of brake equipment elements and to evaluate the effectiveness of drum braking process in terms of wheel heating. The present study aims to assess wheel heating when drum braking and to define the most informative zones and threshold control values for heating control systems. Heating evaluation is conducted using finite element method under different braking modes. Research results are given as heating patterns in solid-rolled wheel of freight car; the influence of the air distributor mode on the wheel heating is considered, the most informative zones for heating control are identified.

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Xu, Tao, Tao Liu, Peng Zhao, Guiyan Qiang, Zheng Zheng, and Yiqun Liu. "Stability control of single-wheel failure in four-wheel independent drive electric vehicles." Journal of Physics: Conference Series 2761, no. 1 (2024): 012012. http://dx.doi.org/10.1088/1742-6596/2761/1/012012.

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Abstract The integration of the motor and transmission mechanism into the wheels of a four-wheel independent drive electric vehicle with hub motors increases the frequency of failures, especially torque output failures, which seriously affect vehicle stability and jeopardize driving safety. This paper focuses on the perspective of single-wheel torque output failure and studies the vehicle stability control strategy. Firstly, based on the constructed simulation dynamics model, a slip controller is designed to obtain the direct lateral moment. Then, based on the control allocation principle, upper-level lateral moment allocation rules are designed, and torque allocation rules under single-wheel torque output failure are formulated. Finally, simulation experiments are conducted under different operating conditions. The simulation results show that this control strategy can effectively control vehicle stability under single-wheel failure conditions and ensure safe driving.

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Yang, Dongxue, Huacai Lu, and Chenyan Zhang. "Electronic Differential Control System Based on Particle Swarm Optimization and PID Control." Journal of Physics: Conference Series 2216, no. 1 (2022): 012051. http://dx.doi.org/10.1088/1742-6596/2216/1/012051.

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Abstract For the front wheel steering, the control effect of the four-wheel hub-driven electric vehicle driven by the rear wheel is not accurate and stable. It is proposed to replace the traditional PID control system with the particle swarm algorithm to realize the online optimization of the PID regulator parameters. The simulation model of the improved system is built in MATLAB. Compared with the conventional PID control method, the results show that the improved four-wheel drive system has a smaller slip ratio between the left rear wheel and the right rear wheel, which improves the directional stability and braking efficiency of the wheel electric vehicle.

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Kazakov, V. V. "OPERATIONAL CONTROL OF THE ABRASIVE WHEEL USING AN ULTRASONIC VIBROMETER." Kontrol'. Diagnostika, no. 284 (February 2022): 34–40. http://dx.doi.org/10.14489/td.2022.02.pp.034-040.

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The paper considers the use of an ultrasonic phase vibration meter (ultrasonic vibrometer) for operational contactless control of the geometry of the working surface and the beating of abrasive wheels. For this objects, the vibrometer sensor is fixed in a tripod, set at a distance of 15…25 mm from the working surface of the wheel, and the change in distance to it is continuously measured. To fix the angular coordinate, a removable mark is applied to the surface of the wheel. The measurement results are recorded and processed in a computer. The results of diagnostics of wheels, which have been used for a long time for processing metal products, are presented.

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Tian, JH, XX Lu, GL Ma, and CR Bowen. "Understanding the effect of elastic wheels on an urban railway system using a new wheel–rail coupling vibration model." Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics 234, no. 3 (2020): 465–80. http://dx.doi.org/10.1177/1464419320916982.

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In order to control the wheel–rail coupling vibration of an urban railway system, a combined elastic wheel damping structure is proposed where the key parameters that determine the structural damping and thereby control the vibration of the railway system are explored. The vertical acceleration of the elastic wheels is obtained for a range of stiffness coefficients as the wheel moves on an irregular track, which is calculated by the [Formula: see text] method in the time domain. The results show that the vertical acceleration changes with a V-shaped trend, with an increase of wheel stiffness coefficient, which allows the optimum stiffness coefficient for minimum vertical acceleration of the elastic wheel to be obtained. It is observed that when attempting to suppress wheel vibration, an elastic wheel with a larger stiffness coefficient is needed as the degree of track irregularity reduces. This paper provides new insights into the effect of wheel elasticity on vibration characteristics, and thereby provides directions to improve ride quality and passenger comfort.

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Zhao, Liangliang, Rui Zhang, Hua Zhang, Jia Ma, Yupei Du, and Zhenyu Hu. "Unmanned lunar exploration bionic mesh wheel design and performance study." Journal of Physics: Conference Series 2775, no. 1 (2024): 012020. http://dx.doi.org/10.1088/1742-6596/2775/1/012020.

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Abstract Addressing the limitations of traditional lunar exploration mesh wheels in improving the traction performance of unmanned lunar rovers through conventional optimization, this study introduces a novel bionic mesh wheel design inspired by the characteristics of ostrich toes. A comparative wheel design is also developed for control experiments. Discrete element simulations are conducted for both the bionic and comparative wheels. Comparative analysis of their macroscopic simulation data reveals that the bionic wheel outperforms the comparative wheel in terms of traction performance. Furthermore, the bionic wheel exhibits higher traction efficiency and energy savings at lower slip ratios. The feasibility of the proposed design is validated through soil trough experiments, providing evidence for its practical viability in enhancing the traction capabilities of unmanned lunar exploration vehicles.

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Journal articles on the topic 'Wheel control'

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