Research on Assist-Steering Method for Distributed-Drive Articulated Heavy Vehicle Based on the Co-Simulation Model

Xu, Tao; Ji, Xuewu; Cong, Fengyu; Liu, Yahui; Shen, Yanhua

doi:10.4271/2020-01-0761

Cited by 4 publications

(3 citation statements)

References 16 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The parameters of the vehicle and its HSM can be found in our previous works [8,9,28] and is shown in Table . 1 With these parameters, the response comparison of the measure data with simulation results calculated by the dynamic model (with Combining Fig. 6 from study [29] and FIGURE 5 from the present work, the response comparison of the measured and simulated results show good agreement. The negligible difference reflects the accuracy of these two virtual models.…”

Section: A Verification Of Dynamic Modelssupporting

confidence: 64%

A Skid-Steering Method for Path-Following Control of Distributed-Drive Articulated Heavy Vehicles

Yang

Cao

et al. 2022

IEEE Access

Self Cite

View full text Add to dashboard Cite

Distributed-drive articulated heavy vehicles (DAHVs) have separate front and rear sections and require a complex hydraulic steering system to achieve the steering process, which poses considerable challenges in obtaining better steering characteristics and achieving path-following control. In this paper, the distributed-drive characteristic of DAHVs is used to develop a novel skid-steering method (SSM) in which the hydraulic steering method (HSM) is replaced with a system that differentially controls the driving wheels to improve vehicle steering performance and path following control accuracy. Three main contributions are made: 1) The novel SSM with direct yaw moment that is used to be the sole power source during steering process of DAHVs is designed to replace the conventional HSM. 2) The idea of SSM by yaw rate control of one vehicle section to achieve the steering process for DAHVs is proposed firstly, which can solve the complex problem of requiring multiple control parameters due to the separate vehicle sections of DAHVs. 3) A layered control method is implemented to improve the robustness of the control system, which is composed of an upper path following controller and a lower skid steering controller combined with a double sliding mode control technique. The system's stability and robustness are proven by the Lyapunov approach. A co-simulation model verified by field tests is used to demonstrate the feasibility and effectiveness of the proposed control method. The results of this study provide a new way to improve the intelligence of DAHVs.

show abstract

Section: A Verification Of Dynamic Modelssupporting

confidence: 64%

A Skid-Steering Method for Path-Following Control of Distributed-Drive Articulated Heavy Vehicles

Yang

Cao

et al. 2022

IEEE Access

Self Cite

View full text Add to dashboard Cite

show abstract

“…The external forces on the hydraulic drive chassis that change with the ground slope have a great impact on the control of the chassis. According to the theorem of conservation of power (Xv, 2019;Kim et al, 2012), the output power of the hydraulic motor is conserved with the driving power needed by the walking wheel. As shown in formula (5), when the chassis walking wheel uses a constant displacement motor, the output Q of the motor is linear with the angular velocity w. The pressure of hydraulic motors will increase with the increase of the resultant moment:…”

Section: Influence Of External Force Variation On Downhill Driving Of...mentioning

confidence: 99%

Stability characteristics and experiment of hydraulic drive four-wheel chassis

Liu

Feng

Wang

et al. 2022

JEDT

View full text Add to dashboard Cite

Purpose This study aims to improve the maneuverability and stability of four-wheel chassis in a small paddy field; a front axle swing steering four-wheel chassis with optimal steering is designed. Design/methodology/approach When turning, the front inner wheel stops and the rear inner wheel is in the following state. The hydraulic drive system of the walking wheel adopts a driving mode in which two front-wheel motors are connected in series and two rear wheel motors in parallel. The chassis uses a combination of a gasoline engine with a water cooling system, a CVT continuously variable transmission and a hydraulic drive system to increase the control capability. The front axle rotary chassis adopts a step-less variable speed engine and a hydraulic control system to solve the hydraulic stability of the chassis in uphill and downhill conditions so as to effectively control the over-speed of the wheel-side drive motors. Through the quadratic orthogonal rotation combination design test, the mathematical models of uphill and downhill front-wheel pressures and test factors are established. Findings The results show that the chassis stability is optimal when the back pressure is 0.5 MPa, and the rotating slope is 4°. The uphill and downhill pressures of the front wheels are 2.38 MPa and 1.5 MPa, respectively. Originality/value The influence of external changes on the pressure of hydraulic motors is studied through experiments, which lays the foundation for further research.

show abstract

“…[12]. To reduce the energy consumption of the hydraulic steering system Xu et al [13] proposed an assist-steering method based on drive-torque distribution (skid steering or differential steering) and obtained a reduction of the steering actuator force for about 41.2 %.…”

Section: Introductionmentioning

confidence: 99%

Constrained Control Allocation Improving Fault Tolerance of a Four Wheel Independently Driven Articulated Vehicle

Seiffer

Schutz

Frey

et al. 2023

IEEE Open J. Intell. Transp. Syst.

View full text Add to dashboard Cite

In articulated vehicles steering is accomplished by adjusting the articulation angle. Commonly a steering actuator is used to pivot the two vehicle sections. This actuator can be dispensed with if the pivoting is controlled by selective distribution of the drive torques to the individually driven wheels instead. Since steering is a safety-critical function, it must be ensured even if one of the drive motors fails. For this purpose, we propose a control method for a fault-tolerant four wheel independently driven articulated vehicle. The control method was developed and tested in a simulation environment and validated on a 1:5 scale demonstrator vehicle. The proposed method with constrained control allocation maintains the desired velocity and articulation angle by distributing the driving torques to the four wheels considering the current actuator limits. Both the simulation and the vehicle tests show that the control method meets the control objectives even when a sudden actuator limit occurs during critical driving scenarios like cornering. Thus, the vehicle can keep its maneuverability in the event of a detected failure of a drive motor. Together with reliable failure detection, the proposed approach provides a basis for further development towards innovative fault-tolerant electric articulated vehicles that meet the requirements of functional safety.

show abstract

Research on Assist-Steering Method for Distributed-Drive Articulated Heavy Vehicle Based on the Co-Simulation Model

Cited by 4 publications

References 16 publications

A Skid-Steering Method for Path-Following Control of Distributed-Drive Articulated Heavy Vehicles

A Skid-Steering Method for Path-Following Control of Distributed-Drive Articulated Heavy Vehicles

Stability characteristics and experiment of hydraulic drive four-wheel chassis

Constrained Control Allocation Improving Fault Tolerance of a Four Wheel Independently Driven Articulated Vehicle

Contact Info

Product

Resources

About