An in-wheel motor-based tyre test vehicle

Deur, Joško; Kostelac, Milan; Herold, Zvonko; Ivanović, Vladimir; Pavković, Danijel; Hrgetić, Mario; Asgari, Jahan; Miano, Carlo; Hrovat, Davor

doi:10.1504/ijvsmt.2007.016237

Cited by 10 publications

(21 citation statements)

References 12 publications

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“…the drive equivalent inertias J r and J v , the servomotor torque response time constant T m , and the Coulomb friction torque M Cv in the case vertical axis drive) are estimated by means of the so-called drive starting and stopping experiment (see e.g. [11]). The parameter estimation procedure is based on the drive motion equations for the drive starting ( I ) under constant torque M m (facilitated by applying stepwise torque reference change to the torque/current control loop) and overall inertia J stopping under zero motor torque due to friction torque M f ( I I):…”

Section: Drive Parameters Identificationmentioning

confidence: 99%

Design of Normal Force Control System for a Pin-on-Disk Tribometer including Active and Passive Suppression of Vertical Vibrations

2013

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Original scientific paperThis paper presents the design of a computer-controlled pin-on-disk tribometer for friction characterization of various friction sliding pairs. The tribometer setup comprises two high-bandwidth servomotors for the control of the rotating disk and the normal load-related spindle drive, as well as a high-precision tri-axial piezoelectric force sensor for normal and tangential forces measurement. Since the spindle drive system is characterized by notable compliance effects, the normal force cascade control system is designed with the aim of vertical vibrations active damping. In order to compensate for the unevenness of the rotating disk surface and associated high-level perturbations in the specimen normal force, the normal force control system is extended with a feedforward compensator of the disk unevenness disturbance, and a dedicated leaf spring suspension system is designed. The effectiveness of the proposed system of vertical vibrations damping is verified experimentally.Key words: Vibration suppression, Normal force control, Pin-on-disk tribometer Projektiranje sustava regulacije vertikalne sile tribometra s uzorkom na disku uključujući aktivno i pasivno prigušenje vertikalnih vibracija. Učlanku je prikazan dizajn računalom upravljanog tribometra s uzorkom na disku za karakterizaciju različitih kliznih parova. Postav tribometra sadrži dva električna servomotora visokih dinamičkih performansi koji se koriste za regulaciju rotacijskog diska i navojnog vretena za generiranje normalne sile, te tro-osni piezoelektrični senzor za mjerenje normalne i tangencijalne sile. Kako je pogon navojnog vretena karakteriziran značajnom elastičnošću, kaskadni sustav regulacije sile je projektiran s ciljem aktivnog prigušenja vertikalnih vibracija. U svrhu kompenzacije značajnih neravnina površine rotacijskog diska i s njima povezanih velikih amplituda perturbacija normalne sile na uzorak, sustav regulacije normalne sile proširuje se unaprijednim kompenzatorom poremećaja uslijed neravnina površine diska, te za tu svrhu namijenjenim sustavom ovjesa s lisnatim oprugama. Učinkovitost predloženog sustava za prigušenje vertikalnih vibracija provjerena je eksperimentalnim putem.Ključne riječi: prigušenje vibracija, regulacija vertikalne sile, tribometar s uzorkom na disku

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Section: Drive Parameters Identificationmentioning

confidence: 99%

Design of Normal Force Control System for a Pin-on-Disk Tribometer including Active and Passive Suppression of Vertical Vibrations

2013

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“…[9]). Such a feedforward compensator is not used herein since the in-wheel motor time constant is very small (T m = 2 ms) [7]. Downloaded by [University of Saskatchewan Library] at 00: 13 15 October 2012 Apart from being widely used and well understood, the main advantage of motor speed control compared with acceleration control [5,6] is lower sensitivity to noise (there is no need for taking a time-derivative of the speed signal).…”

Section: Traditional Slip-based Control Strategymentioning

confidence: 99%

“…The controller accurately keeps the slip at the reference value (the steady-state slip error variations are suppressed below 0.5%), and the noise level in the commanded signal F app = M R /r is relatively low. The steady-state oscillations with the frequency of about 5 Hz are due to driven wheel vertical vibrations (stiff suspension is used [7]). The controller effectively suppresses the slip excursion at t ∼ = 0.5 s (in only 50 ms), which is caused by the tyre force drop from a lowvelocity dynamic tyre friction potential [7,10] to the static friction potential.…”

Section: Traditional Slip-based Control Strategymentioning

confidence: 99%

“…The steady-state oscillations with the frequency of about 5 Hz are due to driven wheel vertical vibrations (stiff suspension is used [7]). The controller effectively suppresses the slip excursion at t ∼ = 0.5 s (in only 50 ms), which is caused by the tyre force drop from a lowvelocity dynamic tyre friction potential [7,10] to the static friction potential. The maximum average vehicle acceleration is obtained for s R = 10%.…”

Section: Traditional Slip-based Control Strategymentioning

confidence: 99%

“…The experimental verification is conducted in an ice arena by using an experimental electrical vehicle with an in-wheel motor ( Figure 2) [7]. In this regard, the TCS is developed/presented for the case of a vehicle with a single driven wheel.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

A model-based traction control strategy non-reliant on wheel slip information

Deur

Pavković

Burgio

et al. 2011

Vehicle System Dynamics

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Tyre friction behaviour under abrupt wheel torque transients on slippery road surfaces: experimental analysis and modelling

Ivanović

Deur

Kostelac

et al. 2011

Vehicle System Dynamics

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The paper shows that, during abrupt wheel torque transients for ice surface and low vehicle speeds, the tyre can develop significantly larger longitudinal force than the peak value of the tyre static curve. This so-called dynamic tyre friction potential (DTFP) effect has many influencing factors such as the rate of change of the wheel torque, the vehicle speed, and the tyre dwell time. The paper presents a detailed analysis of the DTFP behaviour based on the experimental data collected by using an in-wheel motorbased tyre test vehicle. The analysis results and an insight into the brush structure of a tyre model lead to the hypothesis that the different influencing factors may be predominantly explained by the bristle dwell time (BDT) effect. Following this hypothesis, the LuGre model of the tyre friction dynamics is extended with a physical BDT sub-model. The experimental validation results show that the proposed model can accurately capture the low-speed tyre-ice friction behaviour during abrupt wheel torque transients.

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An in-wheel motor-based tyre test vehicle

Cited by 10 publications

References 12 publications

Design of Normal Force Control System for a Pin-on-Disk Tribometer including Active and Passive Suppression of Vertical Vibrations

Design of Normal Force Control System for a Pin-on-Disk Tribometer including Active and Passive Suppression of Vertical Vibrations

A model-based traction control strategy non-reliant on wheel slip information

Tyre friction behaviour under abrupt wheel torque transients on slippery road surfaces: experimental analysis and modelling

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