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1
Wong, J. Y. y V. M. Asnani. "Study of the correlation between the performances of lunar vehicle wheels predicted by the Nepean wheeled vehicle performance model and test data". Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 222, n.º 11 (1 de noviembre de 2008): 1939–54. http://dx.doi.org/10.1243/09544070jauto811.
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This paper describes the results of a study of the correlation between the performances of wheels for lunar vehicles predicted using the Nepean wheeled vehicle performance model (NWVPM), developed under the auspices of Vehicle Systems Development Corporation, Ottawa, Canada, and the corresponding test data presented in ‘Performance evaluation of wheels for lunar vehicles’, Technical Report M-70-2, prepared for George C. Marshall Space Flight Center, National Aeronautics and Space Administration (NASA), USA, by the US Army Engineer Waterways Experiment Station (WES). The NWVPM was originally developed for design and performance evaluation of terrestrial off-road wheeled vehicles. The purpose of this study is to assess the potential of the NWVPM for evaluating wheel candidates for the new generation of extra-terrestrial vehicles. Two versions of a wire-mesh wheel and a hoop-spring wheel, which were considered as candidates for lunar roving vehicles for the NASA Apollo program in the late 1960s, together with a pneumatic wheel were examined in this study. The tractive performances of these wheels and of a 4×4 test vehicle with the pneumatic wheels on air-dry sand were predicted using the NWVPM and compared with the corresponding test data obtained under Earth's gravity and previously documented in the above-named report. While test data on wheel or vehicle performances obtained under Earth's gravity may not necessarily be representative of those on extra-terrestrial bodies, because of the differences in gravity and in environmental conditions, such as atmospheric pressure, it is still a valid approach to use test data obtained under Earth's gravity to evaluate the predictive capability of the NWVPM and its potential applications to predicting wheel or wheeled rover performances on extra-terrestrial bodies. Results of this study show that, using the ratio ( P20/ W) of the drawbar pull to normal load at 20 per cent slip as a performance indicator, there is a reasonable correlation between the predictions and experimental data. This indicates that the NWVPM has the potential as an engineering tool for evaluating wheel candidates for a future generation of extra-terrestrial vehicles, provided that appropriate input data are available.
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Hutangkabodee, Suksun, Yahya Zweiri, Lakmal Seneviratne y Kaspar Althoefer. "Soil Parameter Identification and Driving Force Prediction for Wheel-Terrain Interaction". International Journal of Advanced Robotic Systems 5, n.º 4 (1 de noviembre de 2008): 35. http://dx.doi.org/10.5772/6225.
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This paper considers wheeled vehicles traversing unknown terrain, and proposes an approach for identifying the unknown soil parameters required for vehicle driving force prediction (drawbar pull prediction). The predicted drawbar pull can potentially be employed for traversability prediction, traction control, and trajectory following which, in turn, improve overall performance of off-road wheeled vehicles. The proposed algorithm uses an approximated form of the wheel-terrain interaction model and the Generalized Newton Raphson method to identify terrain parameters in real-time. With few measurements of wheel slip, i, vehicle sinkage, z, and drawbar pull, DP, samples, the algorithm is capable of identifying all the soil parameters required to predict vehicle driving forces over an entire range of wheel slip. The algorithm is validated with experimental data from a wheel-terrain interaction test rig. The identified soil parameters are used to predict the drawbar pull with good accuracy. The technique presented in this paper can be applied to any vehicle with rigid wheels or deformable wheels with relatively high inflation pressure, to predict driving forces in unknown environments.
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Eto, Ryosuke, Tomoaki Satomi y Hiroshi Takahashi. "Kinematics of Wheel-Type Tracked Vehicle with Crawlers in Between the Front and Rear Wheels". Journal of Robotics and Mechatronics 24, n.º 6 (20 de diciembre de 2012): 933–38. http://dx.doi.org/10.20965/jrm.2012.p0933.
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Tracked vehicles are generally trucked to the field because they cannot move on the pavement. This operation is very slow and inefficient. To solve the problem, it is necessary to develop tracked vehicles that can move swiftly on both soft ground and pavement. Wheel-type tracked vehicles with crawlers in between the front and rear wheels can move swiftly using only the wheels on pavement and both wheels and crawlers on soft ground. However, such vehicles cannot turn on both wheels and crawlers. In this study, this steering constraint condition of the vehicle was analyzed with inverse kinematics. Using the obtained optimal conditions, numerical simulations and experiments were carried out. The vehicle’s turning performance was also shown to improve.
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Ryoo, Young-Jae, Dae-Yeong Im y Hyun-Rok Cha. "Design of Robotic Vehicle for Personal Mobility with Electric-Driven Three-Wheels". International Journal of Humanoid Robotics 13, n.º 04 (29 de noviembre de 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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Chudzikiewicz, Andrzej, Juraj Gerlici, Magdalena Sowińska, Anna Stelmach y Wojciech Wawrzyński. "Modeling and simulation of a control system of wheels of wheelset". Archives of Transport 55, n.º 3 (30 de septiembre de 2020): 73–83. http://dx.doi.org/10.5604/01.3001.0014.4234.
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Modern light rail vehicles, such as a tram or rail bus, due to the need to provide mobility for the elderly or disabled people and the requirements of operators operating passenger rail transport or transport in urban areas must have a 100% low floor. Structurally, this is associated with the use of wheelset with independently rotating wheels (IRW) in such vehicles. It is also possible to use a bogie structure without the use of a wheelset axle by mounting the wheels directly in the side parts of the bogie frame. This construction is more complex and will not be discussed in this article. Bearing in mind the dynamic behavior of such vehicles during operation (lateral stability, profile wear) in various driving conditions (curve traffic, crossovers) and taking into account operating costs, it becomes necessary to install wheel rotation control systems to maintain center movement mass of the wheelset around the centerline of the track. The subject of the article will be considerations on modeling and simulation of rail vehicle bogie motion with IRW sets including the wheel control system. Nominal and mathematical models of the analyzed vehicle will be presented, as well as a controlled strategy based on the comparison of the angular velocities of the wheels of the wheelset A review of works on solutions of such systems will be presented, and a control concept will be proposed. The summary contains conclusions regarding the possibility of practical use of the proposed method of steering wheels of a wheelset in the c ase of independently rotating wheels.
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Shi, Yan, Miao Li, Weihua Ma y Kang Chen. "Dynamic of Friction Coupling Independently Rotating Wheels for High Speed". Shock and Vibration 2017 (2017): 1–8. http://dx.doi.org/10.1155/2017/7456598.
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A new lateral coupling structure with independently rotating wheels (IRW) is proposed, and longitudinal creepage is obtained by replacing the gear pair with the friction pair to synchronize the rotation speed of left and right wheels. The auxiliary wheelset made up of two friction wheels can be placed either under the primary suspension or on the frame. Vehicles dynamics models with three different kinds of bogies are developed, including friction coupling bogie with independently rotating wheels (FCIRW-bogie), bogie with independently rotating wheels (IRW-bogie), and bogie with rigid wheelsets, and their guiding and resetting capability when negotiating large-radius curves are compared and analyzed. Results show that FCIRW has the advantages of both IRW and rigid wheelset. On the straight track, FCIRW has sufficient wheel-rail longitudinal creep force to assist the reset; its critical speed is much higher than that of the rigid wheelset. On the curved track, the whole vehicle wear power of FCIRW-bogie vehicle is about 2/3 of the rigid axle level.
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Tao, Gongquan, Zefeng Wen, Xuesong Jin y Xiaoxuan Yang. "Polygonisation of railway wheels: a critical review". Railway Engineering Science 28, n.º 4 (29 de septiembre de 2020): 317–45. http://dx.doi.org/10.1007/s40534-020-00222-x.
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AbstractPolygonisation is a common nonuniform wear phenomenon occurring in railway vehicle wheels and has a severe impact on the vehicle–track system, ride comfort, and lineside residents. This paper first summarizes periodic defects of the wheels, including wheel polygonisation and wheel corrugation, occurring in railways worldwide. Thereafter, the effects of wheel polygonisation on the wheel–rail interaction, noise and vibration, and fatigue failure of the vehicle and track components are reviewed. Based on the different causes, the formation mechanisms of periodic wheel defects are classified into three categories: (1) initial defects of wheels, (2) natural vibration of the vehicle–track system, and (3) thermoelastic instability. In addition, the simulation methods of wheel polygonisation evolution and countermeasures to mitigate wheel polygonisation are presented. Emphasis is given to the characteristics, effects, causes, and solutions of wheel polygonisation in metro vehicles, locomotives, and high-speed trains in China. Finally, the guidance is provided on further understanding the formation mechanisms, monitoring technology, and maintenance criterion of wheel polygonisation.
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Rosenblat, Grigory, Vladimir Tishkin y Vladimir Yashin. "Model of Carriage Movement on Plane with Dry Friction Forces". International Journal of Online and Biomedical Engineering (iJOE) 16, n.º 08 (17 de julio de 2020): 85. http://dx.doi.org/10.3991/ijoe.v16i07.14551.
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Wheel slip model is an important aspect of vehicle driving stability and safety control. However, in most of the carriage movement models friction forces and wheel slip effect are being neglected. This paper raises the problem of wheel slip in dangerous driving and autonomous vehicles under critical driving modes, then tasks the modeling of movement of an individual vehicle is considered. These are two tasks of nonholonomic mechanics: 1) the movement of a wheelset without wheel slip (two disks freely mounted on an axis) along an inclined plane in the field of gravity, and 2) the movement of a flat wheel model, which, under certain assumptions, can be a four-wheeled carriage. In these tasks, in addition to the standard dynamics (continuous motion without wheel slip), critical situations can also be observed associated with wheel sleep and separation of wheels from plane.
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Mei, T. X. y R. M. Goodall. "Practical Strategies for Controlling Railway Wheelsets Independently Rotating Wheels". Journal of Dynamic Systems, Measurement, and Control 125, n.º 3 (1 de septiembre de 2003): 354–60. http://dx.doi.org/10.1115/1.1592191.
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This paper presents the development of an active control strategy for railway vehicles with independently rotating wheels. The proposed control scheme is intuitively formulated with a simple control structure and adaptive to vehicle speed. It does not require basic guidance measurements (e.g., wheel-rail deflection and angle of attack) that are expensive and impractical to implement. Speed sensors are used to measure the relative rotational speed of the two wheels on a same axle and sensors are also used to measure the relative yaw velocity of the wheelset and the body it is connected. Both curving performance and passenger ride comfort of the actively controlled vehicle are compared with that of a typical passive vehicle and an optimal control scheme.
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Zhang, Huan Huan y Guo Ping Yang. "Study on Energy-Saving Driving Mode during Cornering for Motorized Wheels Driving Vehicle". Applied Mechanics and Materials 203 (octubre de 2012): 360–64. http://dx.doi.org/10.4028/www.scientific.net/amm.203.360.
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In order to study the energy consumption feature when cornering for motorized wheels driving vehicles, the resistance force on the driving axle was analyzed. A creative method quasi-neutral steering was proposed for vehicle cornering. A motorized wheels driving vehicle model was established, and the simulation of constant speed cornering was performed when the yaw rate as the parameter to control the front-rear torque distribution and the lateral acceleration as the parameter to control the left-right torque distribution. The results indicate that no wheel slipping is happened when quasi-neutral steering. The torque on the rear outer wheel is more than other wheels, and the torque on the outer wheels is more than inner wheels. The power consumption decreases 1.15% by quasi-neutral steering.
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Sandhu, Amanpreet, Sheifali Gupta, Rupesh Gupta y Deepali Gupta. "Anti-Theft System for Monitoring Wheels of a Vehicle". Journal of Computational and Theoretical Nanoscience 16, n.º 10 (1 de octubre de 2019): 4299–303. http://dx.doi.org/10.1166/jctn.2019.8516.
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Nowadays, automobiles (vehicles such as two-wheelers, four-wheelers) are increasing due to increment in the human population. Along with the increase in vehicle’s population, thefts and vandalization of vehicles and/or vehicle components such as tyres, engine, doors etc. are also increasing dynamically and exponentially. This problem of thefts is needed to be solved by detecting the theft and sending an alert to a concerned person. Such type of system has proposed in this paper. The proposed system includes: a navigation unit coupled to wheel of vehicle; a communication unit; a circuit breaker unit having a button coupled to wheel and wheel hub of vehicle such that when wheel is fitted tightly to wheel hub then button is in the first position to allow flow of current through circuit breaker unit and when wheel is loosened then button is in the second position such that flow of current is stopped and the first signal is generated, and a control unit to configure and navigate the signal. The proposed system also sends an alert to a concerned person in an effective manner.
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Ji, Yuanjin y Lihui Ren. "Anti-overturning capacity and critical roll angle of straddling monorail vehicle". Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 232, n.º 23 (15 de enero de 2018): 4420–29. http://dx.doi.org/10.1177/0954406217753234.
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Straddling monorail vehicles are a new rail transportation mode in which the bearing, running, and guiding rely on rubber tyre running gears. Since the lateral span of the running wheel is small, stabilizing wheels are added to enhance the anti-overturning capacity, which is influenced by the contact between the stability wheels and track beam. If one stabilizing wheel loses contact with the track beam, the tendency to overturn increases significantly. To ensure the straddling monorail vehicle has a stable anti-overturning capacity, an initial preload pressure is applied to the all stabilizing wheels and guiding wheels. The specific preload pressure of the stabilizing and guiding wheels is a unique issue of straddling monorail vehicles. This paper deduced a flexible coefficient formula of straddling monorail vehicles, validated the accuracy of the flexible coefficient formula based on dynamics simulations, and discussed the correlation between the flexibility coefficient and stabilizing wheel contact conditions. According to the variation regularity of the anti-overturning capacity of straddling monorail vehicles, the concept of vehicle critical roll angle was proposed. The calculation formula of the critical roll angle of straddling monorail vehicles was determined, and its accuracy was validated by dynamics simulations. Based on the above fundamentals, a functional relationship between the critical roll angle and stabilizing wheel preload pressure was derived. This paper proposed that the value of stabilizing wheel preload pressure should be reasonably determined according to the critical roll angle and discussed the maximum and minimum speed limit of curve negotiating.
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Nanda Kumar, CS y Shankar C. Subramanian. "Brake force sharing to improve lateral stability while regenerative braking in a turn". Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 233, n.º 3 (26 de diciembre de 2017): 531–47. http://dx.doi.org/10.1177/0954407017747373.
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In electric and hybrid vehicles, regenerative braking is applied only at the driven wheels by the electric drive, whereas the non-driven wheels are not subjected to brake force during the pure regenerative braking mode. The application of pure regenerative brake may affect the vehicle’s lateral stability during a turn. The impact could be more severe when the pure regenerative brake is applied at the turn on the rear wheels (for a rear wheel drive vehicle) over a low friction road surface. As part of a solution to reduce this impact, a brake force sharing (BFS) strategy between regenerative and friction brake has been proposed in this paper, which improves the brake force distribution between front and rear wheels to ensure a stable turn. The vehicle model and the BFS strategy were developed, and the IPG Car Maker® software was used to evaluate the effectiveness of the proposed strategy. The simulation results on BFS strategy have been corroborated using experimental data collected from a test vehicle. Further, a closed loop control structure was developed for implementing the proposed BFS strategy in electric and hybrid vehicles.
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Li, H. X., A. H. Zhu, C. C. Ma, P. W. Sun, J. W. Yang y K. Q. Zhang. "Influence of Wheel Profile Wear Coupled with Wheel Diameter Difference on the Dynamic Performance of Subway Vehicles". Shock and Vibration 2021 (10 de junio de 2021): 1–15. http://dx.doi.org/10.1155/2021/6694561.
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In view of the coexistence of wheel profile wear (WPW) and wheel diameter difference (WDD) on an actual subway line, a dynamic analysis method based on coupling between WPW and equivalent in-phase WDD was proposed. Based on the measurements from a subway vehicle in operation on this line, dynamics modeling and calculations were performed for a single carriage of this vehicle. Later, the interaction between the effects of WPW and equivalent in-phase WDD on the vehicle dynamic performance was analyzed, and the dynamic response in the presence of coupled damage was compared between the outer and inner wheels. Furthermore, the difference in the dynamic response caused by different positions of the larger-diameter wheels (i.e., on the inner track or outer track) was analyzed for the case where equivalent in-phase WDD occurred between the front and rear bogies. The results show that when the vehicle ran on a straight line, the coupling between WPW and WDD reduced the vehicle’s stability but improved its ride comfort. When the vehicle traveled on a curved line, it showed reductions in the lateral wheel/rail contact force, derailment coefficient, axle lateral force, and wear index if the outer wheels had a larger diameter. As a result, the deterioration of the vehicle’s dynamic performance due to the increasing degree of WPW slowed down, and its curve negotiation performance improved. Meanwhile, the outer wheels had significantly greater lateral wheel/rail contact force, derailment coefficient, and wear index compared to the inner wheels. When a −1 mm WDD was coupled with the worn wheel profile for 14 × 104 kilometers traveled, the dynamic performance indexes of the vehicle were close to or even exceeded the corresponding safety limits. The findings can provide technical support for subway vehicle maintenance.
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Barke, D. W. y W. K. Chiu. "A Review of the Effects of Out-Of-Round Wheels on Track and Vehicle Components". Proceedings of the Institution of Mechanical Engineers, Part F: Journal of Rail and Rapid Transit 219, n.º 3 (1 de mayo de 2005): 151–75. http://dx.doi.org/10.1243/095440905x8853.
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Out-of-round rollingstock wheels are caused by skidding or spalling of the wheel tread and by dynamic motion of wheels and wheelsets in service. Out-of-round wheels generate impact forces at the wheel-rail interface, which are transferred to train and to track components including rail and both bolted and welded rail joints, prestressed concrete sleepers, ballast, wheels, and bearings. To make a rational decision about removing out-of-round wheels from service, estimation of the damage caused by an individual wheel is required. Previous studies have used analytical and numerical models to illustrate the distribution of impact into track and rolling stock components. These models are compared here. The review details mathematical models and studies of the lives of the earlier-listed components, which would provide a means of determining the damage caused by impacting wheels. In addition, studies have found that impacting wheels increase fuel consumption and increase pass-by noise levels, which are also discussed here. Further study of the effect of impacting wheels on axle bearing lives, parent rail, and bridges would improve this decision-making tool. It is envisaged that these models would be combined to determine the total cost of operating rolling stock with impacting wheels. This could be offset against the cost of wheelset maintenance to determine when an impacting wheel should be reprofiled.
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Alexandru, Cătălin. "A mechanical integral steering system for increasing the stability and handling of motor vehicles". Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 231, n.º 8 (30 de diciembre de 2015): 1465–80. http://dx.doi.org/10.1177/0954406215624465.
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The article deals with the design, modeling, and simulation of an innovative four-wheel steering system for motor vehicles. The study is focused on the steering box of the rear wheels, which is a cam-based mechanism, while the front steering system uses a classical pinion—rack gearbox. In the proposed concept, the four-wheel steering aims to improve the vehicle stability and handling performances by considering the integral steering law, which is formulated in terms of correlation between the steering angles of the front and rear wheels. In this regard, a double-profiled cam is designed, in correlation with the input motion law applied to the steering wheel. The cam profile dictates (prescribes) the translational movement of the rear follower, which is connected to the left and right steering tierods, turning—as appropriate—the rear wheels in the same direction (for stability) or in opposite (for handling) to the front wheels. The cam-based mechanism is able to carry out complex motion laws, providing accurate integral steering law. The dynamic modeling and simulation of the four-wheel steering vehicle was performed by using the Multi-Body Systems package Automatic Dynamic Analysis of Mechanical Systems of MSC.Software, the full-vehicle model containing also the front and rear wheels suspension systems, as well the vehicle chassis (car body). The dynamic simulations in virtual environment have resulted in important results that demonstrate the handling and stability performances of the proposed four-wheel steering system by reference to a classical two-wheel steering vehicle.
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Zhu, Wei, Di Yang y Jun Huang. "A hybrid optimization strategy for the maintenance of the wheels of metro vehicles: Vehicle turning, wheel re-profiling, and multi-template use". Proceedings of the Institution of Mechanical Engineers, Part F: Journal of Rail and Rapid Transit 232, n.º 3 (9 de marzo de 2017): 832–41. http://dx.doi.org/10.1177/0954409717695649.
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The wheel–rail contact relationship has a great impact on the security and reliability of metro vehicles in service. In particular, wear modeling and maintenance optimization of the wheels play significant roles with regard to both safety and cost. However, it is difficult to provide a satisfactory model of wheel wear because of the open nature of real wheel–rail systems and the constantly varying environmental conditions in which they operate. Historically, re-profiling, which also has its limitation to some extent, was adopted as a common strategy to restore the original profiles of the worn wheels. Acknowledging that re-profiling is not the only strategy for dealing with wheel wear, the authors of this study have developed a more advanced optimization approach that includes two more strategies, namely, vehicle turning and multi-template use, to give as near an optimal solution as possible. Vehicle turning refers to the reversal of the vehicle’s orientation on the rail, whereas multi-template use refers to the situation where different re-profiling templates are used alternately. In this paper, re-profiling, vehicle turning, and multi-template use have been discussed separately. Then a hybrid optimization strategy for the maintenance of the wheels of metro vehicles has been proposed, with the aim of maximizing the wheel life while minimizing the relevant costs. An initial case study on the Shanghai Metro system shows that the proposed approach is able to provide a more reasonable solution for the optimization of the maintenance strategies.
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Du, Zi Xue, Xiao Xia Wen y Zheng Shen. "The Impact Analysis of Tire Parameter for Tire Wear When Monorail Vehicle Curve Driving". Applied Mechanics and Materials 470 (diciembre de 2013): 529–33. http://dx.doi.org/10.4028/www.scientific.net/amm.470.529.
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monorail spatially coupled dynamic modeling which has three directions attached contacts wheel have been established. According to the simulation and experimental results, dynamic model was validated. based on the dynamic coupling modeling , the tire parameter influence trends for the tire wear of walking wheel’s tires were analyzed when monorail vehicle curve driving. The analysis result revealed that because the contact of straddle-beam monorail is special, with the cornering stiffness increases of walking wheel tire, by the impact of the contact radial force from guide wheels and stabilizing wheels, the lateral forces of walking wheel is gradually increasing. tire wear speed increases at a constant when monorail vehicle curve driving.
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Li, Chang Chun, Tian Hou Zhang y Shi Feng Wang. "Study on Vehicle Wheel Automatic Recognition Based on the Manufacturing". Advanced Materials Research 97-101 (marzo de 2010): 1312–16. http://dx.doi.org/10.4028/www.scientific.net/amr.97-101.1312.
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The paper discusses the major manufacturing processes of vehicle wheels and the current load-unload situation, analyses the structural shape of vehicle wheels, and designs the vehicle wheel gripper. Also the paper studies the image acquisition, image processing and automatic recognition based on the vehicle wheel manufacturing.
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Baldissera, Paolo y Cristiana Delprete. "Rolling resistance, vertical load and optimal number of wheels in human-powered vehicle design". Proceedings of the Institution of Mechanical Engineers, Part P: Journal of Sports Engineering and Technology 231, n.º 1 (1 de agosto de 2016): 33–42. http://dx.doi.org/10.1177/1754337115625002.
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Even if it makes a smaller contribution than aerodynamic drag, rolling resistance plays a non-negligible role in the efficiency of human-powered vehicles, whether they are designed for daily commuting or to set speed records. The literature, experimental evidence and models show that the rolling resistance coefficient of cycling wheels strongly depends on the supported load, suggesting that the number of wheels and the load distribution could play a role in vehicle design and in road-test data analysis. Starting with an in-depth look at the relationship between a single wheel and overall vehicle rolling resistance coefficients, an analysis is proposed and discussed with the aim of minimizing the rolling resistance of a vehicle. Finally, a parametric surface response model for rolling resistance is obtained as a function of wheel size and the number of wheels. The overall analysis overturns the popular assumption according to which ‘the more wheels, the more rolling resistance’, at least according to a strict definition of the phenomenon.
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Chen, Wen. "The Analysis of Dynamic Performance on Four-Wheel Steering Vehicle Model". Advanced Materials Research 308-310 (agosto de 2011): 767–70. http://dx.doi.org/10.4028/www.scientific.net/amr.308-310.767.
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Four-wheel steering (4WS) is an advanced vehicle control technique which can improve steering characteristics. Compared with traditional two wheel steering (2WS) vehicles, 4WS vehicle can steer the front wheels and the rear wheels individually when cornering, according to the vehicle motion states such as vehicle speed, yaw velocity and lateral acceleration. Therefore, 4WS can enhance the handling stability and improve the active safety for vehicle. In this paper, the motion characteristics of 4WS vehicle are analyzed. The steering dynamics model of vehicle is established, and the transfer function of deflection angle of mass center to steering angle of 4WS vehicle is deduced. The handling stability of 4WS vehicle is researched by virtue of Matlab/simulink, Simulation results show that the 4WS vehicle is agile to and consistent with steering input and the transient handling stability is improved distinctly without increasing driver’s handling burden.
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Miroslaw, Tomasz, Jan Szlagowski, Adam Zawadzki y Zbigniew Zebrowski. "Simulation model of an off-road four-wheel-driven electric vehicle". Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 233, n.º 9 (10 de enero de 2019): 1248–62. http://dx.doi.org/10.1177/0959651818822399.
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Electric vehicle gives much more advantages than only less air polluting or less noisy mobility. The current technology enables engineers to better control the electric motor than internal combustion engine. Electronic components like transistors, which can be switched on and off almost anytime, help to control the motor current and indirectly the torque and the speed. The progress in power electronics and motor construction opens new possibilities in vehicle construction and control. The process of wheel rolling can be better controlled which is very important especially on deformed surface of a road. The movement resistance can be reduced by smart power distribution between front and rear wheels in 4 × 4 drive vehicles, where front wheels can compact the ground and rear wheels can move on the rigid road. To reach all the advantages, we need a better understanding of a processes occurring in electric vehicles’ systems, which consist of motors, gears, and wheels reacting with ground. Authors present the model of 4 × 4 drive vehicle focused on this last, but not least, problem—part of an electric vehicle model which is the wheel–ground cooperation. This subsystem decides about power flow from the motor to the wheel and about traction and movement efficiency. This problem is not new, but flexible driving manner going with electric drive makes these analyses more practical and can be used in off-road electric vehicles. The analyses were supported by model and simulation prepared with MATLAB/Simulink software. In conclusion, the comparison of various drive properties and possibilities is presented and recommendations for further development are suggested.
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Sebeşan, Ioan, Sorin Arsene y Ion Manea. "Construction of elastic wheels on light rail vehicles". MATEC Web of Conferences 178 (2018): 06006. http://dx.doi.org/10.1051/matecconf/201817806006.
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In the case of urban rail transport, light vehicles can be an effective solution due to the advantages offered by the elastic wheels. One of the great advantages of these rolling elements is given by the reduction of unsuspended masses of the vehicle which have the effect of reducing the vehicle-rolling interaction forces. However, there are no other advantages to be missed, such as noise reduction (very important for urban vehicles) and improved walking quality. This paper aims at presenting the construction and design elements of the elastic wheels. It is hoped to improve the quality of the urban transport vehicles in Romania. At the same time, dynamic effects will be analysed and presented on the wheel - rail contact, in the case of vehicles equipped with elastic wheels.
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Dedović, Vlastimir, Vojislav Božanić y Milan Božović. "Evaluation of vehicle parameters depending on technical vehicle inspection". Tehnika 76, n.º 3 (2021): 352–57. http://dx.doi.org/10.5937/tehnika2103352d.
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In a strategic document of EU for Road safety improvement, up to 2030, "safe vehicle" is recognized as one of the pillars of a stable Road safety system. The part of the "safe vehicle" pillar is technical vehicle ispection, where parameters important for road safety are periodically checked. The aim of this work is to determine the quality of the measurement data and the ability to repeat measurements of some parameters during technical vehicle inspection, or more precisely, to determine whether measured data of turning wheel resistance and brakes ovality differ depending on the inspection place. The research is done by inspecting ten vehicles at five inspection places with different levels of resources use. The results show that the spread of measured data of turning wheel resistance is statistically significant and that it depends on the inspection place, as well as that measured data of turning wheels resistance significantly vary between inspection places. The measured percentage of brakes ovality is different from one inspection place to another, but the differences are statistically significant only for right wheels. The impact of inspection place, although less than in turning wheel resistance measurement, is still significant.
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Mikhailov, E., S. Semenov, V. Tkachenko y S. Sapronova. "Reduction of Kinematic Resistance To Movement Of the Railway Vehicles". MATEC Web of Conferences 235 (2018): 00033. http://dx.doi.org/10.1051/matecconf/201823500033.
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The aim of the work is to reduce the train rolling resistance to movement the railway vehicles. The article proves the expediency of changing the constructive scheme of railway vehicle wheel, which allows independent rotation their wheel mounting surface rolling and the guide surface (flange). There has been carried out the classification and analysis of the advantages and disadvantages of various structural schemes wheels of the railway vehicles. There has been analyzed the Features resistance to movement wheels of traditional and perspective constructive scheme. The obtained results allow drawing a conclusion about the possibility of a significant reduction in train rolling resistance to movement of railway vehicles with wheels perspective constructive scheme.
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Chugo, Daisuke, Kuniaki Kawabata, Hayato Kaetsu, Hajime Asama y Taketoshi Mishima. "Configuration-Based Wheel Control for Step-Climbing Vehicle". Journal of Robotics and Mechatronics 19, n.º 1 (20 de febrero de 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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Jing, Hui, Rongrong Wang, Cong Li y Jinxiang Wang. "Differential steering-based electric vehicle lateral dynamics control with rollover consideration". Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 234, n.º 3 (2 de julio de 2019): 338–48. http://dx.doi.org/10.1177/0959651819855810.
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This article investigates the differential steering-based schema to control the lateral and rollover motions of the in-wheel motor-driven electric vehicles. Generated from the different torque of the front two wheels, the differential steering control schema will be activated to function the driver’s request when the regular steering system is in failure, thus avoiding dangerous consequences for in-wheel motor electric vehicles. On the contrary, when the vehicle is approaching rollover, the torque difference between the front two wheels will be decreased rapidly, resulting in failure of differential steering. Then, the vehicle rollover characteristic is also considered in the control system to enhance the efficiency of the differential steering. In addition, to handle the low cost measurement problem of the reference of front wheel steering angle and the lateral velocity, an [Formula: see text] observer-based control schema is presented to regulate the vehicle stability and handling performance, simultaneously. Finally, the simulation is performed based on the CarSim–Simulink platform, and the results validate the effectiveness of the proposed control schema.
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Six, Klaus, Tomislav Mihalj, Gerald Trummer, Christof Marte, Visakh V. Krishna, Saeed Hossein-Nia y Sebastian Stichel. "Assessment of running gear performance in relation to rolling contact fatigue of wheels and rails based on stochastic simulations". Proceedings of the Institution of Mechanical Engineers, Part F: Journal of Rail and Rapid Transit 234, n.º 4 (9 de octubre de 2019): 405–16. http://dx.doi.org/10.1177/0954409719879600.
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In this work, the authors present a methodology for assessing running gear with respect to rolling contact fatigue of wheels and rails. This assessment is based on the wheel/rail contact data of different wheel profile wear states obtained from a wheel profile prediction methodology. The approach allows a cumulative assessment of the rolling contact fatigue of rails in different curve radii (e.g. the sum of damage over the lifetime of wheel profiles). Furthermore, the assessment of the rolling contact fatigue can be undertaken at different wear states of the wheel profiles to provide an insight on how the rolling contact fatigue of wheels and rails varies depending on the evolution of wheel wear. The presented methodology is exemplarily applied to two bogie types, the UIC-Y25 standard bogie and the so-called FR8RAIL bogie with a mechanical wheelset steering device. The presented methodology has been shown to be a useful tool for the optimisation of vehicles already in an early stage of the vehicle development process.
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Mieteń, Marcin, Jerzy Grzesiak y Marcin Walkiewicz. "Dynamic tests of vehicles equipped with run-flat wheels". WUT Journal of Transportation Engineering 124 (1 de marzo de 2019): 125–32. http://dx.doi.org/10.5604/01.3001.0013.7181.
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The article also tackles topics related to dynamic testing of vehicles equipped with massive wheel inserts. The subject matter was taken due to the modernization of the Polish Armed Forces. The majority of vehicles obtained for the army are equipped with wheels with massive inserts. With the introduction of this solution to the army, there was a need to check the correctness of the operation of wheels with massive inserts. The Military Vehicles Research Laboratory of the Institute of Armoured and Automotive Technology developed a research method, which the authors presented in the following article. Dynamic testing is carried out in a practical way by unsealing the tire. The results of dynamic tests carried out on a selected military special vehicle equipped with wheels with massive inserts, which allow the vehicle to move after the tire is unsealed, were also presented. This condition can be caused by various situations, such as: passing the vehicle through the spike strip or the shooting through the tire. Special vehicles, both military and police, are highly vulnerable to the above events and must be able to evacuate from the place of danger even in the case of an unsealed tire.
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Cao, Jian Guo, Xin Hua Yang y Jie Xu. "Study on the Return Control of the Electro-Controlled Steering Damper Based on Magnetorheological Fluid". Applied Mechanics and Materials 80-81 (julio de 2011): 894–98. http://dx.doi.org/10.4028/www.scientific.net/amm.80-81.894.
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The paper introduces an electro-controlled steering damper’s working principle, which uses the magnetorheological fluid as the working medium, and derives the damper’s controlling and calculating method. The steering wheel’s return control strategies of it are investigated. In order to compare the control effect of the PD controller with the fuzzy controller, a simulation model of the vehicle’s steering system is established on MATLAB/SIMULINK. Then simulate the returning process of the front wheels at medium and high vehicle speed. The results show that the vehicle’s steering system equipped with the electro-controlled damper can restrain effectively the returning overshoot of front wheels when the steering wheel is returning automatically, and the effect of the fuzzy controller is excelled the PD controller, but it demands much more to the hardware for its larger calculation amount.
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Palkovics, L. y M. El-Gindy. "Examination of Different Control Strategies of Heavy-Vehicle Performance". Journal of Dynamic Systems, Measurement, and Control 118, n.º 3 (1 de septiembre de 1996): 489–98. http://dx.doi.org/10.1115/1.2801172.
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Heavy vehicles play an economically important role in the transportation process, and their numbers have been increasing for several decades. The active safety of the highway system is an important consideration in the design of a heavy vehicle combination. In this paper, the handling characteristics of a 5-axle tractor-semitrailer is examined and used to test for the desired features of the vehicle’s handling and stability. Using these results the optimal control criterion is derived for the vehicle. Four different control strategies are examined by using the Linear Quadratic Regulator (LQR) approach. These are, active steering of the rear wheels of the tractor; active steering of the wheels of the trailer; active torque control in the fifth-wheel joint; and active yaw torque acting on the tractor. These controllers are designed and examined using a simplified linear vehicle model. In addition to discussing the above-mentioned approaches, this paper discusses a method of modifying the slip angles at the tractor’s rear (driven) axles, however the yaw torque at the tractor cg also can be controlled using what is called “unilateral braking.” As well, the replacement of the active torque control at the fifth wheel joint, by a control strategy based on the usage of controllable dampers at the fifth-wheel joint, will also be examined. In this case, a nonlinear mathematical model of the vehicle is used and a modified control strategy called the RLQR/H∞ approach is used to ensure the vehicle’s performance in the presence of parametric uncertainties. The examination of these control strategies is conducted by using a sophisticated non-linear vehicle model, and the influence of these control strategies on the vehicle’s directional and roll stability during severe path-follow lane-change manoeuvre is discussed.
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Yuan, Hao Shan. "Influence of Dynamic Characteristics of Wheels between Vehicle with Traditional and Articulated Bogie". Advanced Materials Research 732-733 (agosto de 2013): 344–47. http://dx.doi.org/10.4028/www.scientific.net/amr.732-733.344.
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The wheel-rail combined power spectrum densities are transformed into time domain samples by IFFT method, and add abnormal corrugation samples. The samples were taken as the inputting disturbances of a vehicle-track vertical coupling dynamics model, and the interaction force of wheel/rail is calculated by the models of vehicle with traditional bogie frame and articulated frame of vehicle/track coupling system. Dynamic responses of wheels on corrugation track can be calculated. The results show that wheels vibration intensity of vehicle with articulated bogie is lower.
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Zheng, Jin Jun, Chuan Xue Song y Jian Hua Li. "The Control Strategy of Yaw Moment for Rear Electric Motor Drive Vehicle". Applied Mechanics and Materials 740 (marzo de 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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Daws, J. W., R. E. Larson y J. C. Brown. "The Impact of Plus-Sized Wheel/Tire Fitment on Vehicle Stability4". Tire Science and Technology 35, n.º 1 (1 de marzo de 2007): 23–40. http://dx.doi.org/10.2346/1.2698541.
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Abstract Plus-sizing in the tire industry is the growing practice of replacing a vehicle’s original equipment wheel size with a larger diameter wheel and replacing the tire with a lower-aspect-ratio tire of the same diameter. This practice is normally associated with aftermarket sales, and there is a growing trend for vehicle dealerships to fit these larger wheels/tires to new cars. This paper discusses the general practice and its effect on some of the performance characteristics of vehicles. A vehicle taken from the NHTSA New Car Assessment Program’s rollover “Star” rating program is used to illustrate the impact of plus sizing on static stability. Some of the dynamic tire effects that could influence vehicle stability are discussed, and preliminary testing data on the dynamic impact of plus sizing are presented.
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Zhuravleva, Larisa Anatolievna y Van Thuan Nguyen. "The design parameters improvement of wide-grip sprinkler machines of circular action". Agrarian Scientific Journal, n.º 8 (10 de septiembre de 2021): 90–94. http://dx.doi.org/10.28983/asj.y2021i8pp90-94.
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During the process of irrigation of wide-coverage sprinklers (WS) by the interaction of the wheels with the soil, the soil is pressed. In this case, the WS wheels impact the soil with a certain specific pressure. Specific pressure depends on a number of factors such as the length of vehicle, span length, vehicle weight, the diameter of water line, wheel contact area, determined by wheel geometry, pressure and tire type. The article carries out theoretical investigations determining the specific pressure of the wheel on the soil. It also given some recommendations connected with a number of wheels to be installed on the WS body compared with the calculated specific pressure of the designed vehicle with the standard specific pressure.
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Hashimoto, Masafumi, Fuminori Oba y Toru Eguchi. "Control of an Omnidirectional Vehicle with Multiple Modular Steerable Drive Wheels". Journal of Robotics and Mechatronics 11, n.º 1 (20 de febrero de 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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Zhu, Yong Qiang y Ping Xia Zhang. "Steering Analysis of Multi-Axle Vehicle Based on ADAMS/VIEW". Advanced Materials Research 538-541 (junio de 2012): 2878–81. http://dx.doi.org/10.4028/www.scientific.net/amr.538-541.2878.
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In order to improve low-speed flexibility and high-speed handling and stability of multi-axle vehicle, a double-phase steering system was designed with planetary gear system. An in-phase steering mode is used when steering wheel turning in small angle. A adverse-phase steering mode is used when steering wheel turning in large angle. A five-axle vehicle simulation model was established with software ADAMS/VIEW. The research of all-wheel steering and non-all-wheel steering for high speed and low speed was respectively processed. When running in high speed, the lateral acceleration and yaw rate of the centroid are significantly lower when rear wheels steering in in-phase mode than the rear wheels not turning, which makes the possibility of roll and drift decrease, when vehicle overtaking in high-speed. When running in low speed, compared with rear wheels not steering, when rear wheels sreering, lateral acceleration increased by only 12.8%, yaw rate is 17.3% higher, diameter of the centroid trajectory is reduced by 12.9%, which greatly increases the mobility and flexibility of the multi-axle vehicle when turning at low speed.
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Huh, K., J. Kim y J. Hong. "Handling and driving characteristics for six-wheeled vehicles". Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 214, n.º 2 (1 de febrero de 2000): 159–70. http://dx.doi.org/10.1177/095440700021400205.
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Handling performance of six-wheeled special-purpose vehicles is investigated in this study. Six-wheel drive (6WD) vehicles are believed to have good performance in off-the-road manoeuvring and to have fail-safe capabilities when one or two of their tyres are blown. However, the handling performance of six-wheel steering (6WS) vehicles is not yet well understood in the relevant literature. In this paper, six-wheeled vehicles are modelled as an 18 degree-of-freedom (DOF) system that considers non-linear vehicle dynamics, tyre models and kinematic effects. The vehicle model is constructed into a simulation tool using MATLAB/SIMULINK so that input/output and vehicle parameters can be changed easily using the modulated approach. Handling performance is analysed not only from the frequency domain but also from the time domain. Simulation results demonstrate that the effect of middle-wheel steering is not negligible from the viewpoint of handling characteristics such as yaw rate, lateral acceleration, etc. The simulation tool is also utilized for the manoeuvring analysis over a rough rigid surface, where the separation between the wheels and the road can be considered. In addition, a new 6WS control law is proposed in order to minimize the sideslip angle. Lane change simulation results show the advantage of 6WS vehicles with the proposed control law.
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Zhu, Chuan Qi, Sen Wu y Yun Zhen Yang. "Research on Electronic Differential Speed Control for In-Wheel Motor Drive Electric Vehicle". Applied Mechanics and Materials 525 (febrero de 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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Zhu, Xi y Jian Guo Song. "The Analysis of 4WD Vehicle Overtaking Based on Electric Wheels". Applied Mechanics and Materials 241-244 (diciembre de 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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Ishigami, Genya, Jim Overholt y Karl Iagnemma. "Multi-Material Anisotropic Friction Wheels for Omnidirectional Ground Vehicles". Journal of Robotics and Mechatronics 24, n.º 1 (20 de febrero de 2012): 261–67. http://dx.doi.org/10.20965/jrm.2012.p0261.
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In this paper, a novel wheel design utilizing the anisotropic friction property for omnidirectional vehicles is presented. The proposed wheel has a series of bendable “nodes” on its circumference, each of which is made of two materials with differing friction properties: one material exhibits high friction, and the other exhibits low friction. The high friction section of the node generates a high traction force, while the low friction section enables the wheel to passively skid. The wheels are arranged such that the robot wheel exhibits high traction in its drive direction (much like a conventional tire), but low traction when sliding laterally. Exploiting this “anisotropic friction” property, the proposed wheel enables a vehicle to realize omnidirectional motion (i.e., the vehicle can move any direction within the plane - forward, back, or laterally). While many other omnidirectional wheel drives exist, the proposed wheel is simpler than any other existing design because the wheel is composed of a single, moldable element. This paper summarizes the design of the proposed wheel and presents experimental comparisons between an omnidirectional robot using the proposed wheel and an omnidirectional robot using conventional wheels.
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Gago-Calderón, Alfonso, Lucia Clavero-Ordóñez, Jose Ramón Andrés-Díaz y Jose Fernández-Ramos. "Hardware Architecture and Configuration Parameters of a Low Weight Electronic Differential for Light Electric Vehicles with Two Independent Wheel Drive to Minimize Slippage". World Electric Vehicle Journal 10, n.º 2 (20 de mayo de 2019): 23. http://dx.doi.org/10.3390/wevj10020023.
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This article presents a design and performance analysis of an Electronic Differential (ED) system designed for Light Electric Vehicles (LEVs). We have developed a test tricycle vehicle with one front steering wheel and two rear fixed units in the same axis with a brushless DC (BLDC) motor integrated in each of them. Each motor has an independent controller unit and a common electronic Arduino CPU that can plan specific speeds for each wheel as curves are being traced. Different implementations of sensors (input current/torque, steering angle and speed of the wheels) are discussed related to their hardware complexity and performance based on speed level requirements and slipping on the traction wheels. Two driving circuits were generated (slalom and circular routes) and driven at different speeds, monitoring and recording all the related parameters of the vehicle. The most representative graphs obtained are presented. The analysis of these data presents a significant change of the behaviour of the control capability of the ED when the lineal speed of the vehicle makes a change of direction that passes 10 Km/h. In this situation, to obtain good performance of the ED, it is necessary to include sensors related to the wheels.
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Fu, Xiang, Yong He y Di Xu. "Research of Electric Differential Control for Motor-Wheel-Drive Electric Vehicle". Applied Mechanics and Materials 310 (febrero de 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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Zhang, Lu, Guo Ye Wang, Feng Zhu Yu y Zhong Fu Zhang. "The Vehicles ESP Safe Test System Based on Aid Wheels Breaking Control Vehicle System". Advanced Materials Research 605-607 (diciembre de 2012): 1710–16. http://dx.doi.org/10.4028/www.scientific.net/amr.605-607.1710.
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The structure of the aid wheels braking control vehicle system is projected, and the system dynamic model is set up. Based on the Matlab/Simulink, establish the dynamic simulation system of the aid wheels braking control vehicle system for the Chery A3 car. Using the brake / drive integrated ESP control principle, based on the simulation model, respectively simulate and analyze the ESP control performances of the vehicle system and the aid wheels braking control vehicle system in different simulation conditions, under steer and over steer. The study results indicate that, based on the aid wheels braking control vehicle system, when there is no ESP control or ESP control system failure, the system can ensure the safety of vehicle effectively; and when with ESP control system, the ESP control performances of the aid wheels braking control vehicle system and the vehicle system have remarkable consistency. The aid wheels braking control vehicle system provides a basis for the vehicle stability control performance research.
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West, M. y H. Asada. "Design of Ball Wheel Mechanisms for Omnidirectional Vehicles With Full Mobility and Invariant Kinematics". Journal of Mechanical Design 119, n.º 2 (1 de junio de 1997): 153–61. http://dx.doi.org/10.1115/1.2826230.
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A new ball wheel design for fully mobile omnidirectional vehicles is presented. This ball wheel mechanism yields a unique vehicle design that is not only omnidirectional with no kinematic singularity but is configuration-invariant in kinematic behavior. Invariant kinematics greatly simplifies the control of smooth and precise vehicle motion. Multiple displacement sensors are easily incorporated into each ball wheel mechanism to enhance the accuracy of vehicle motion control. Two fundamental requirements of functioning ball wheel designs are established: one is the translational form closure requirement for holding a spherical tire, and the other is the non-overconstraint requirement to allow each ball to rotate in two directions. It is proved that a class of mechanisms in which a ball is held by rollers whose axes are fixed directly to the vehicle chassis cannot satisfy the fundamental requirements. A class of modified mechanisms are then analyzed and the necessary and sufficient conditions for the modified mechanisms the fundamental requirements are obtained. For this class of ball wheels (Class 1), conditions for configuration-invariant kinematics are found and two possible actuation schemes are discussed. Two prototype vehicles have been built: both have three Class 1 ball wheels but each uses a different actuation scheme. Performance data of the two prototypes are compared. Both achieve smooth motion and precise dead reckoning.
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Wang, Pingxin, Xiaoting Rui, Hailong Yu y Bo Li. "Dynamics modeling and control of active track tensioning system for tracked vehicle". Journal of Vibration and Control 26, n.º 11-12 (13 de diciembre de 2019): 989–1000. http://dx.doi.org/10.1177/1077546319890748.
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Track assemblies are widely used to reduce vehicles’ ground pressure and improve their off-road performance. During off-road, the track tension has a significant effect on the performance of the crawler driving system. Previous control strategies only make use of the motions of partial road wheels. This paper develops a logical improvement to govern the motion of the track tensioner by using all road wheels. First, a dynamic model of the hydraulic-mechanism coupling system is established using the transfer matrix method for multibody systems and pressure-flow equations. Then, in order to get the angle of the idler arm, a modeling method of wheel envelope perimeter is developed, which is based on the locations of all wheels. Simulation results indicate that the control system maintains the wheel envelope perimeter almost constant while road wheels swing and decrease the possibility of peel-off and breakage of the track. It alleviates the track repeated stretch and keeps the tension in a stable range to reduce the fatigue damage. The control strategy can effectively reduce the peak value of the upper track tension during a vehicle passing through obstacles. This study suggests that the active track tensioning system can be implemented to improve the driving properties of tracked vehicles.
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Li, Yao Xu, Yun Chao Wang y Pei Feng Feng. "Lateral Dynamics of Three-Axle Steering Vehicle Based Zero Vehicle Sideslip Angle Control". Advanced Materials Research 476-478 (febrero de 2012): 1682–87. http://dx.doi.org/10.4028/www.scientific.net/amr.476-478.1682.
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Based on the established linear 2-DOF dynamics model of three-axle steering vehicle, the relationships between the gain of main transient and steady-state characteristic parameters of three-axle steering vehicle based on Zero Vehicle Sideslip Angle Control (ZVSC), vehicle speed and the deviation of the instantaneous steering center are deduced, and the influences of the control method and system inherent characteristics on steering transient response and stability are discussed. The main characteristic parameters of all wheels steering vehicles and front wheels steering vehicles are compared by quantative analysis using MATLAB with the consistency with theoretical analysis proofed.
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Meshram, Poonam y Ashish Sinha. "“DESIGN & OPTIMIZATION OF ALLOY WHEEL RIM USING ANSYS”". SMART MOVES JOURNAL IJOSCIENCE 4, n.º 6 (26 de junio de 2018): 5. http://dx.doi.org/10.24113/ijoscience.v4i6.147.
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Alloy wheels are automobile wheels which are made from an alloy of aluminum or magnesium metals or sometimes a mixture of both. Alloy wheels differ from normal steel wheels because of their lighter weight, which improves the steering and the speed of the car. Alloy wheels will reduce the unstrung weight of a vehicle compared to one fitted with standard steel wheels. The benefit of reduced unstrung weight is more precise steering as well as a nominal reduction in fuel consumption. Alloy is an excellent conductor of heat, improving heat dissipation from the brakes, reducing the risk of brake failure under demanding driving conditions. At present four-wheeler wheels are made of Aluminum Alloys. In this project, Aluminum alloy are comparing with another Alloy. In this project a parametric model is designed for Alloy wheel used in four-wheeler by collecting data from reverse engineering process from existing model. Design is evaluated by analyzing the model by taking the constraints as ultimate stresses and variables as different alloy materials and different loads and goals as maximum outer diameter of the wheel and fitting accessories areas like shaft of the axle and bolts PCD of the car. Car model is Toyota.
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PARCZEWSKI, Krzysztof, Kazimierz ROMANISZYN y Henryk WNĘK. "Influence of electric motors assembly in hubs of vehicle wheels on the dynamics of movement, especially on surfaces with different adhesion coefficient". Combustion Engines 179, n.º 4 (1 de octubre de 2019): 58–64. http://dx.doi.org/10.19206/ce-2019-409.
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The article presents issues related to the drivability and stability of a vehicle equipped with electric motors placed in the hubs of wheels. In the article was presented the necessary modifications to the vehicle and their impact on the vehicles motion parameters. Describes the behavior of the vehicle on a homogeneous surface and on surfaces with different adhesion coefficient under the wheels of the vehicle sides. The simulation model is presented. The last part of the article presents simulation results for compared surfaces with different adhesion under the wheels of the left and right side of the vehicle.
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Kim, H. W. y S. Jung. "Control of a two-wheel robotic vehicle for personal transportation". Robotica 34, n.º 5 (10 de septiembre de 2014): 1186–208. http://dx.doi.org/10.1017/s0263574714002173.
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SUMMARYRecently, small-sized compact electric vehicles have been in demand for short-distance travel in urban areas, although battery charging in electric vehicles present in the market is still problematic. Borrowing from the concept of a mobile inverted pendulum system, in this paper, a two-wheel robotic vehicle system is implemented and controlled as the future personal transportation device called the TransBOT. The TransBOT has two driving modes: a regular vehicle mode, where stable contact on the ground is maintained by two wheels and two casters, and the balancing mode, which maintains the stable posture with two wheels on the ground. The two-wheel balancing mechanism can be used as a transportation vehicle in narrow and busy urban areas. Gain scheduling control methods based on linear controllers are used for different drivers. In addition, desired balancing angles are specified for the different sizes of drivers in order to have a stable balancing control performance. These desired balancing angle values have been found by empirical studies. Experimental studies with drivers of different weights, as well as indoor and outdoor driving tasks, were conducted to ensure the feasibility of TransBOT.