Generalised multi-axle vehicle handling

Williams, Daniel E.

doi:10.1080/00423114.2011.577225

Cited by 38 publications

(27 citation statements)

References 9 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Watanabe and Kitano 15 presented a planar steering model of articulated tracked vehicles. Williams 16 studied the handling ability of a multi-axle vehicle. Ding and Guo 17 developed a generalized equivalent estimation approach to analyze the handling dynamics of multi-axle vehicles.…”

Section: Introductionmentioning

confidence: 99%

“…Yao et al 18 studied the steering performances of six tracked vehicles. The above methods [15][16][17][18] are used to study the steering performances of multi-tracked or articulated tracked vehicles on planes; these methods cannot be utilized to analyze the steering performances of articulated tracked vehicles on ramp surfaces. Zhang et al 19 studied the control strategy of the flexible steering system of an all-wheelsteering robot.…”

Section: Introductionmentioning

confidence: 99%

“…20 These two methods 19,20 only discuss the controlling strategies of movement trajectory; the mechanical characteristics of tracks or tires during steering process are not studied. Current models are designed for studying the steering abilities of traditional single-tracked vehicles, [3][4][5][6][7][8][9][10][11][12][13][14] or they only emphasize the planar steering performances of multi-tracked or articulated tracked vehicles [15][16][17][18] or analyze motion trajectory planning. 19,20 Such research gap should be addressed, given that the road conditions of articulated tracked vehicles are worse than that of single-tracked vehicles.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Dynamic modeling study on the slope steering performance of articulated tracked vehicles

Dong

Cheng

et al. 2017

Advances in Mechanical Engineering

View full text Add to dashboard Cite

Articulated tracked vehicles are used as special off-road transportation vehicles, and their mobility is gaining more attention now than before. As an important evaluation indicator of the mobility of articulated tracked vehicles, steering performance receives wide attention in particular. Most of the present studies focus on the planar steering performance; few studies employing current models concentrate on the slope steering performance of articulated tracked vehicles. To address this research gap, this study proposes a dynamic modeling method for analyzing the slope steering performance of articulated tracked vehicles. A kinematic model of a vehicle is initially constructed to analyze its kinematic characteristics during slope steering; these characteristics include velocity and acceleration. A dynamic model of a vehicle is then developed to analyze its mechanical characteristics during slope steering; these characteristics include vertical loads, driving forces, and driving moments of tracks. The created dynamic model is then applied to analyze the slope steering performance of a specific articulated tracked vehicle. A mechanical-control united simulation model and an actual test of an articulated tracked vehicle are suggested to verify the established steering model. Comparison results show the effectiveness of the proposed dynamic steering model.

show abstract

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Dynamic modeling study on the slope steering performance of articulated tracked vehicles

Dong

Cheng

et al. 2017

Advances in Mechanical Engineering

View full text Add to dashboard Cite

show abstract

“…Williams D E derived the degree of understeer and equivalent wheelbase expression of multi-axis vehicle, where the axle can contain any number of steering axes, resulting in more general conclusions. [4] Tabbache B taked a vehicle which driven by two electric wheels as research object, and proposed a method based on adaptive control, which used direct torque control and adaptive flux-speed observer to control the each wheel of the vehicle, to improve the reliability of the vehicle. [5] This paper researches to optimize the steering performance of four-axle vehicle with DFAS system by reasonably distributing the driving force of different wheels.…”

Section: Introductionmentioning

confidence: 99%

On Optimizing Steering Performance of Multi-axle Vehicle Based on Driving Force Control

Chen

2017

MATEC Web Conf.

View full text Add to dashboard Cite

Abstract. The steering performance of multi-axle vehicle with independent driving system is affected by the distribution of the wheel driving force. A nonlinear vehicle dynamics model including magic formula tire model for describing 11 DoF four-axle vehicle with dual-front-axle-steering (DFAS) system was presented. The influence of different driving force distribution scheme on the steering performance of the vehicle was analyzed. A control strategy for improving the steady response and transient response of the vehicle steering is proposed. The results show: For the steady response, setting different drive force for internal and external wheels according to the actual steering characteristics of the vehicle can effectively improve its steering characteristics; For the transient response, adopting the zero sideslip angle control strategy and using the PID control algorithm to control the driving force of the outside wheel of tear-two-axle, under angle step input, the vehicle sideslip angle can quickly stabilize to 0 and yaw rate also significantly decreases.

show abstract

“…Choi and Ryew 18 developed a robotic system with active steering capability for internal inspection of urban gas pipelines. Williams 19 developed a generalized model to analyze multi-axle vehicle characteristic. Kim et al 20 discussed the improvement of the cornering performance and maneuverability of 6WD/6WS mobile platform using independent wheel torque and independent steering on each wheel.…”

Section: Introductionmentioning

confidence: 99%

Study on control schemes of flexible steering system of a multi-axle all-wheel-steering robot

Zhang

Gao

Zhu

2016

Advances in Mechanical Engineering

View full text Add to dashboard Cite

It is well known that a multi-axle wheeled robot possesses larger load capability and also higher drive performance. However, its steering flexibility is degraded due to the large number of wheels. In order to solve this problem, in this article, we proposed three control schemes based on the center of rotation or the steering angles of both the first-and last-axle wheels. To release these control schemes, steering mode selection and also the left wheel's steering angle in a specific axle are added approaching a practical application. Thereafter, the remaining wheels' steering angles can be calculated with the Ackerman steering theorem. In order to verify the control effects, a five-axle all-wheel-steering wheeled robot has been developed with the Bluetooth wireless monitor system. Based on the newly designed robot, validation experiments are carried out, such as lateral movement, situ rotation, and multi-mode steering within a narrow space. The results indicate that the proposed design in this article can ensure a more flexible and faster movement within a narrow space. It shows large potential in obstacle avoidance compared with the conventional partial-wheel steering mode.

show abstract

Generalised multi-axle vehicle handling

Cited by 38 publications

References 9 publications

Dynamic modeling study on the slope steering performance of articulated tracked vehicles

Dynamic modeling study on the slope steering performance of articulated tracked vehicles

On Optimizing Steering Performance of Multi-axle Vehicle Based on Driving Force Control

Study on control schemes of flexible steering system of a multi-axle all-wheel-steering robot

Contact Info

Product

Resources

About